check for state of the controller node before cleanup (backport #1363)

[mergify]

This is an automatic backport of pull request #1363 done by Mergify.
Cherry-pick of 6f57faf has failed:

On branch mergify/bp/humble/pr-1363
Your branch is up to date with 'origin/humble'.

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Changes to be committed:
	modified:   controller_manager/src/controller_manager.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   controller_manager/test/test_controller_manager_srvs.cpp

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[saikishor]

This might fix the conflicts

[christophfroehlich]

This might fix the conflicts

unfortunately no :/

[saikishor]

We would need to remove this part of the test

[codecov]

Codecov Report

Attention: Patch coverage is 20.00000% with 4 lines in your changes are missing coverage. Please review.

Project coverage is 75.77%. Comparing base (deb34de) to head (104289f).
Report is 2 commits behind head on humble.

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #1378      +/-   ##
==========================================
- Coverage   75.86%   75.77%   -0.10%     
==========================================
  Files          41       41              
  Lines        3224     3228       +4     
  Branches     1838     1839       +1     
==========================================
  Hits         2446     2446              
- Misses        414      415       +1     
- Partials      364      367       +3     

Flag	Coverage Δ
unittests	75.77% <20.00%> (-0.10%)	⬇️

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Files	Coverage Δ
controller_manager/src/controller_manager.cpp	64.87% <20.00%> (-0.25%)	⬇️