Deactivate the whole controller chain if one of the update results in ERROR

[saikishor]

This PR proposes a way to deactivate the whole controller chain when one of the controllers in the chain is deactivated as a result of it returning ERROR in the update cycle.

For instance, for the following example, if the controller B fails, then it is deactivated automatically, but all the other controllers are left dangling, and they are left to track an invalid reference, this might lead to a catastrophic behaviour, this is especially true when you are tracking a velocity, force, or torque references. The idea is to bring down the whole chain along with it.

graph LR;
    A-->B;
    B-->C;
    B-->D;
    D-->E;

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[codecov]

Codecov Report

❌ Patch coverage is 96.85714% with 11 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.60%. Comparing base (a2e56e4) to head (9eda38f).

Files with missing lines	Patch %	Lines
controller_manager/src/controller_manager.cpp	86.15%	2 Missing and 7 partials ⚠️
...ontroller_manager/test/test_controller_manager.cpp	99.29%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2681      +/-   ##
==========================================
+ Coverage   89.46%   89.60%   +0.14%     
==========================================
  Files         152      152              
  Lines       17307    17637     +330     
  Branches     1434     1448      +14     
==========================================
+ Hits        15483    15804     +321     
- Misses       1246     1250       +4     
- Partials      578      583       +5     

Flag	Coverage Δ
unittests	89.60% <96.85%> (+0.14%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
.../include/controller_manager/controller_manager.hpp	97.29% <ø> (ø)
...ger/include/controller_manager/controller_spec.hpp	100.00% <ø> (ø)
...chainable_controller/test_chainable_controller.cpp	87.91% <100.00%> (ø)
...chainable_controller/test_chainable_controller.hpp	100.00% <ø> (ø)
...ontroller_manager/test/test_controller_manager.cpp	96.22% <99.29%> (+0.88%)	⬆️
controller_manager/src/controller_manager.cpp	76.98% <86.15%> (+0.18%)	⬆️

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[destogl]

This looks very reasonable and very welcome!

[christophfroehlich]

LGTM, CI is happy so am I