[Spawner] Add support for wildcard entries in the controller param files (backport #1724)

[mergify]

This PR aims to add support for the wildcard entries for the controller config files. This is very helpful, for instance, if we need to load the joint_state_broadcaster or any other controllers to different CM namespaces, we could reuse the configuration of the controllers or broadcaster by just having them with a wildcard. If not, we must generate multiple configuration files for each namespaced controller manager.

I've also added tests to test the same architecture. I've also made some tests with ros2_control_demos, and it works well.

Reference: https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.html#using-wildcards-in-yaml-files

Earlier approach:

/rrbot_1/position_trajectory_controller:
  ros__parameters:
    type: joint_trajectory_controller/JointTrajectoryController
    joints:
      - joint1
      - joint2

    command_interfaces:
      - position

    state_interfaces:
      - position

    state_publish_rate: 200.0 # Defaults to 50
    action_monitor_rate: 20.0 # Defaults to 20

    allow_partial_joints_goal: false # Defaults to false
    open_loop_control: true
    allow_integration_in_goal_trajectories: true
    constraints:
      stopped_velocity_tolerance: 0.01 # Defaults to 0.01
      goal_time: 0.0 # Defaults to 0.0 (start immediately)
  
  /rrbot_2/position_trajectory_controller:
  ros__parameters:
    type: joint_trajectory_controller/JointTrajectoryController
    joints:
      - joint1
      - joint2

    command_interfaces:
      - position

    state_interfaces:
      - position

    state_publish_rate: 200.0 # Defaults to 50
    action_monitor_rate: 20.0 # Defaults to 20

    allow_partial_joints_goal: false # Defaults to false
    open_loop_control: true
    allow_integration_in_goal_trajectories: true
    constraints:
      stopped_velocity_tolerance: 0.01 # Defaults to 0.01
      goal_time: 0.0 # Defaults to 0.0 (start immediately)

With this change, we can have one configuration as below and reuse it

/**/position_trajectory_controller:
  ros__parameters:
    type: joint_trajectory_controller/JointTrajectoryController
    joints:
      - joint1
      - joint2

    command_interfaces:
      - position

    state_interfaces:
      - position

    state_publish_rate: 200.0 # Defaults to 50
    action_monitor_rate: 20.0 # Defaults to 20

    allow_partial_joints_goal: false # Defaults to false
    open_loop_control: true
    allow_integration_in_goal_trajectories: true
    constraints:
      stopped_velocity_tolerance: 0.01 # Defaults to 0.01
      goal_time: 0.0 # Defaults to 0.0 (start immediately)

---

This is an automatic backport of pull request #1724 done by [Mergify](https://mergify.com).

[mergify]

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Changes to be committed:
	modified:   controller_manager/doc/userdoc.rst
	modified:   controller_manager/test/test_controller_spawner_with_type.yaml

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   controller_manager/controller_manager/controller_manager_services.py
	both modified:   controller_manager/test/test_spawner_unspawner.cpp
	both modified:   doc/release_notes.rst

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[codecov]

Codecov Report

Attention: Patch coverage is 51.80723% with 40 lines in your changes missing coverage. Please review.

Project coverage is 62.35%. Comparing base (3a48508) to head (96e225b).
Report is 1 commits behind head on iron.

Files with missing lines	Patch %	Lines
controller_manager/test/test_spawner_unspawner.cpp	38.09%	5 Missing and 34 partials ⚠️
.../controller_manager/controller_manager_services.py	95.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             iron    #1836      +/-   ##
==========================================
- Coverage   62.40%   62.35%   -0.06%     
==========================================
  Files         112      112              
  Lines       13039    13098      +59     
  Branches     8833     8882      +49     
==========================================
+ Hits         8137     8167      +30     
- Misses        944      949       +5     
- Partials     3958     3982      +24     

Flag	Coverage Δ
unittests	62.35% <51.80%> (-0.06%)	⬇️

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Files with missing lines	Coverage Δ
.../controller_manager/controller_manager_services.py	75.00% <95.00%> (+4.31%)	⬆️
controller_manager/test/test_spawner_unspawner.cpp	53.97% <38.09%> (-2.25%)	⬇️

... and 1 file with indirect coverage changes