[Humble] Fix controller parameter loading issue in different cases (backport #1293)

[saikishor]

Backport of the PR: #1293

[mergify]

@saikishor, all pull requests must be targeted towards the master development branch.
Once merged into master, it is possible to backport to humble, but it must be in master
to have these changes reflected into new distributions.

[codecov]

Codecov Report

Attention: 26 lines in your changes are missing coverage. Please review.

Comparison is base (a8e21fc) 31.17% compared to head (c397e24) 31.14%.

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #1332      +/-   ##
==========================================
- Coverage   31.17%   31.14%   -0.04%     
==========================================
  Files          95       95              
  Lines       10706    10731      +25     
  Branches     7401     7421      +20     
==========================================
+ Hits         3338     3342       +4     
- Misses        706      715       +9     
- Partials     6662     6674      +12     

Flag	Coverage Δ
unittests	31.14% <13.33%> (-0.04%)	⬇️

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

Files	Coverage Δ
.../include/controller_manager/controller_manager.hpp	66.66% <ø> (ø)
controller_manager/src/controller_manager.cpp	36.88% <13.33%> (-0.47%)	⬇️

[Noel215]

Tested on simulation with ros-controls/ros2_controllers#978, as in the original PR. It is working for me.