[Spawner - utils] Improve launch utils to support the multiple controller names (backport #1782)

[mergify]

This PR aims to add a new method that supports the multiple controller names parsing when generating the launch description

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This is an automatic backport of pull request #1782 done by Mergify.

[mergify]

Cherry-pick of 88441b0 has failed:

On branch mergify/bp/iron/pr-1782
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	both modified:   controller_manager/controller_manager/launch_utils.py

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[mergify]

This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich?

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 5 lines in your changes missing coverage. Please review.

Project coverage is 62.20%. Comparing base (f5b0976) to head (3a2171e).
Report is 1 commits behind head on iron.

Files with missing lines	Patch %	Lines
...troller_manager/controller_manager/launch_utils.py	0.00%	5 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             iron    #1784   +/-   ##
=======================================
  Coverage   62.20%   62.20%           
=======================================
  Files         112      112           
  Lines       12300    12303    +3     
  Branches     8605     8605           
=======================================
+ Hits         7651     7653    +2     
  Misses        882      882           
- Partials     3767     3768    +1     

Flag	Coverage Δ
unittests	62.20% <0.00%> (+<0.01%)	⬆️

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

Files with missing lines	Coverage Δ
...troller_manager/controller_manager/launch_utils.py	0.00% <0.00%> (ø)

... and 2 files with indirect coverage changes