Add tf prefix helper and test (backport #2803)

[mergify]

Added the tf prefix helper here instead of control_toolbox. Prefix enabler flag re-added and frame removed from input arguments.
Related PR

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This is an automatic backport of pull request #2803 done by Mergify.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 89.52%. Comparing base (f17fcef) to head (40c6b41).
⚠️ Report is 1 commits behind head on kilted.

Additional details and impacted files

@@            Coverage Diff             @@
##           kilted    #2867      +/-   ##
==========================================
- Coverage   89.53%   89.52%   -0.02%     
==========================================
  Files         152      155       +3     
  Lines       18095    18114      +19     
  Branches     1470     1474       +4     
==========================================
+ Hits        16202    16216      +14     
- Misses       1307     1310       +3     
- Partials      586      588       +2     

Flag	Coverage Δ
unittests	89.52% <100.00%> (-0.02%)	⬇️

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Files with missing lines	Coverage Δ
...terface/include/controller_interface/tf_prefix.hpp	100.00% <100.00%> (ø)
...oller_interface/test/test_controller_tf_prefix.cpp	100.00% <100.00%> (ø)
...oller_interface/test/test_controller_tf_prefix.hpp	100.00% <100.00%> (ø)

... and 2 files with indirect coverage changes

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