replace std streams with ROS logging

Describe the bug
Parts of the code base is using std streams, such as std::cerr, instead of the ROS logging. This makes it difficult to control and redirect the output within the ROS logging system.

To Reproduce
See https://github.com/ros-controls/control_toolbox/blob/e0b69576213896613cac6210011bcd5e98fc65c4/control_toolbox/src/sinusoid.cpp#L59-L63, https://github.com/ros-controls/control_toolbox/blob/e0b69576213896613cac6210011bcd5e98fc65c4/control_toolbox/src/pid.cpp#L141, and https://github.com/ros-controls/control_toolbox/blob/e0b69576213896613cac6210011bcd5e98fc65c4/control_toolbox/src/pid.cpp#L151 for example.

Expected behavior
These and other occurances should use the ROS logging intrastructure.

Screenshots
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Environment (please complete the following information):

• OS: [e.g. Ubuntu]
• Version [e.g. Humble]
• Anything that may be unusual about your environment

Additional context
Add any other context about the problem here, especially include any modifications to ros2_control that relate to this issue.

Start with control_toolbox/src/sinusoid.cpp at lines 59-63 and control_toolbox/src/pid.cpp at lines 141 and 151, then search the codebase for other standard-stream output. Replace the identified occurrences with the ROS logging infrastructure and verify that no relevant diagnostic output still uses std::cerr or similar streams.