Realtime tools migration (backport #1474)

[mergify]

Changes all our realtime_tools containers to RealtimeThreadSafeBox, seems like that is fine everywhere.
Also made it so that any reading or writing done outside of real-time threads will retry 10 times before failing.

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This is an automatic backport of pull request #1474 done by Mergify.

[mergify]

Cherry-pick of 76b3e37 has failed:

On branch mergify/bp/jazzy/pr-1474
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit 76b3e37.
  (fix conflicts and run "git cherry-pick --continue")
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  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   ur_controllers/include/ur_controllers/passthrough_trajectory_controller.hpp
	modified:   ur_controllers/include/ur_controllers/tool_contact_controller.hpp
	modified:   ur_controllers/include/ur_controllers/ur_configuration_controller.hpp
	modified:   ur_controllers/src/force_mode_controller.cpp
	modified:   ur_controllers/src/passthrough_trajectory_controller.cpp
	modified:   ur_controllers/src/tool_contact_controller.cpp
	modified:   ur_controllers/src/ur_configuration_controller.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   ur_controllers/include/ur_controllers/force_mode_controller.hpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally