Add logic to Ros2ControlManager to match ros2_control (backport #3332)

[mergify]

Description

The logic for the chained controllers still does not match the expectation of ROS2 control. This PR makes a few changes:

1. Activation/deactivation is expected to be disjoint. For example, if controller B is a dependency of A (A chains to B) but controller B is also a dependency of C (B chains to B), then the switch from A->B to C->B would cause B to be in both the activation and deactivate list. This causes ROS2 control to through an error and reject the switch. The simplifyControllerActivationDeactivation function adds the logic needed to avoid this from happening.
2. The valid transitions for chained controllers depend asymmetrically on whether the controller is being started or stopped. If A chained to B, then when A is started, B should be automatically started. B is allowed to be started and stopped on its own if A is not running. However, if both A and B are running, B cannot be shut down alone, both must be shut down together or A alone.
3. Lastly, ROS 2 control should not be told to shut down controllers that are not running or start controllers that are already running. Doing so can cause an error. A check is added to only start controllers that are not already running.

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This is an automatic backport of pull request #3332 done by [Mergify](https://mergify.com).

[mergify]

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Changes to be committed:
	new file:   moveit_plugins/moveit_ros_control_interface/test/CMakeLists.txt
	new file:   moveit_plugins/moveit_ros_control_interface/test/test_controller_manager_plugin.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
	both modified:   moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp

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

[sea-bass]

@pac48 want to either resolve these or just not backport this to humble? Up to you.