[ForwardCommandController] Fix the duplicate command interface types when reconfiguring the controller (backport #1568)

[mergify]

if we reconfigure the controller now, it simply appends and creates duplicates. Found the issue with : ros-controls/ros2_control#2090

---

This is an automatic backport of pull request #1568 done by Mergify.

[christophfroehlich]

@saikishor actually, I think that the last assertion of the test JointGroupVelocityControllerTest, ActivateWithWrongJointsNamesFails is wrong, there is nothing set with acceleration (wrong comment, copy-paste error?) and it should succeed

ros2_controllers/velocity_controllers/test/test_joint_group_velocity_controller.cpp

Lines 91 to 93 in 82c46ac

	// activate failed, 'acceleration' is not a registered interface for `joint1`
	ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
	ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);

the test itself is written badly, because it calls on_configure again from configured state.

[codecov]

Codecov Report

Attention: Patch coverage is 14.28571% with 6 lines in your changes missing coverage. Please review.

Project coverage is 66.96%. Comparing base (d3caaf1) to head (c9a7199).
Report is 2 commits behind head on humble.

Files with missing lines	Patch %	Lines
...ollers/test/test_joint_group_effort_controller.cpp	0.00%	0 Missing and 2 partials ⚠️
...lers/test/test_joint_group_position_controller.cpp	0.00%	0 Missing and 2 partials ⚠️
...lers/test/test_joint_group_velocity_controller.cpp	0.00%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##           humble    #1569   +/-   ##
=======================================
  Coverage   66.95%   66.96%           
=======================================
  Files         115      115           
  Lines       13571    13575    +4     
  Branches     8397     8401    +4     
=======================================
+ Hits         9087     9090    +3     
+ Misses       1423     1415    -8     
- Partials     3061     3070    +9     

Flag	Coverage Δ
unittests	66.96% <14.28%> (+<0.01%)	⬆️

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

Files with missing lines	Coverage Δ
...mand_controller/src/forward_command_controller.cpp	75.00% <100.00%> (+1.31%)	⬆️
...ollers/test/test_joint_group_effort_controller.cpp	55.75% <0.00%> (-0.50%)	⬇️
...lers/test/test_joint_group_position_controller.cpp	58.82% <0.00%> (-0.59%)	⬇️
...lers/test/test_joint_group_velocity_controller.cpp	55.75% <0.00%> (-0.50%)	⬇️

... and 4 files with indirect coverage changes