Change the controller sorting with an approach similar to directed acyclic graphs

[saikishor]

The idea is to change the algorithm of the controller sorting with an approach similar to the Directed Acyclic Graphs (DAGs).

• This improves the performance of the current controller sorting
• Easily extendable when the exporting of the state interfaces is added to the controller.
• Very useful when we add the fallback controllers functionality

The old test cases work directly with this approach. So, only the main algorithm behind it has changed

Fixes: #1396
Needed for: #1021 and https://github.com/orgs/ros-controls/projects/6/views/9?sliceBy%5Bvalue%5D=Jazzy&pane=issue&itemId=46799899

[codecov]

Codecov Report

Attention: Patch coverage is 34.06593% with 60 lines in your changes are missing coverage. Please review.

Project coverage is 47.22%. Comparing base (69e5e27) to head (b95c255).

Additional details and impacted files

@@             Coverage Diff             @@
##           master    #1384       +/-   ##
===========================================
+ Coverage        0   47.22%   +47.22%     
===========================================
  Files           0       41       +41     
  Lines           0     3526     +3526     
  Branches        0     1926     +1926     
===========================================
+ Hits            0     1665     +1665     
- Misses          0      465      +465     
- Partials        0     1396     +1396     

Flag	Coverage Δ
unittests	47.22% <34.06%> (?)

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

Files	Coverage Δ
.../include/controller_manager/controller_manager.hpp	18.18% <ø> (ø)
controller_manager/src/controller_manager.cpp	37.72% <34.06%> (ø)

... and 39 files with indirect coverage changes

[destogl]

This looks good! Thanks!

[bmagyar]

Thank you!