Fix update period for the first update after activation

[christophfroehlich]

The issue was that the period argument of the controller's first update() call after activation was basically time->now().
This wasn't covered by the test because there the time argument was counting from zero on.

I fixed the initialization to be done before calculating the period, now it gets the exact value of controller_period at the first call.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 87.71%. Comparing base (9f1007b) to head (28fb945).

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1551      +/-   ##
==========================================
+ Coverage   87.70%   87.71%   +0.01%     
==========================================
  Files         102      102              
  Lines        8702     8703       +1     
  Branches      780      780              
==========================================
+ Hits         7632     7634       +2     
+ Misses        790      789       -1     
  Partials      280      280              

Flag	Coverage Δ
unittests	87.71% <100.00%> (+0.01%)	⬆️

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

Files	Coverage Δ
controller_manager/src/controller_manager.cpp	74.63% <100.00%> (+0.07%)	⬆️
...r_manager/test/test_controller/test_controller.cpp	94.73% <100.00%> (ø)
...r_manager/test/test_controller/test_controller.hpp	100.00% <ø> (ø)
...ontroller_manager/test/test_controller_manager.cpp	93.50% <100.00%> (+0.08%)	⬆️

[saikishor]

The logic and the rest look good to me.

Thanks for fixing it.

One minor comment on the debug print