Use control period instead of theoritical update rate

[tpoignonec]

Using the period would make more sense, but it wasn't working as expected (!= actual measured period).
Should see if it has been resolved in the control stack, probably is the case since it has been nine months.

- auto theoretical_period = rclcpp::Duration::from_seconds(1.0 / this->
auto ret_vic = vic_->update(
-       theoretical_period
+       period,
        measurement_data_,
        joint_command_
);