Fix ERROR stream + check only active controllers for multiple chained controllers (backport #3556)

[mergify]

Description

Hello Moveit Team,

When trying to control TIAGo Pro using moveit in Rviz I got this error:

[move_group-1] [ERROR] [1755075355.583941867] [moveit.plugins.ros_control_interface]: Controller with name %s chains to more than one controller. Chaining to more than one controller is not supported.
[move_group-1] [ERROR] [1755075355.584044598] [moveit_ros.trajectory_execution_manager]: Unable to identify any set of controllers that can actuate the specified joints: [ arm_left_1_joint arm_left_2_joint arm_left_3_joint arm_left_4_joint arm_left_5_joint arm_left_6_joint arm_left_7_joint ]
[move_group-1] [ERROR] [1755075355.584057241] [moveit_ros.trajectory_execution_manager]: Known controllers and their joints:
[move_group-1] 

This was due to a controller that is expected to be chained to several other controllers to be able to work, however this controller is not active when I did the test, it is just spawned by default in inactive

My change is to check chained controller only for active controllers and to fix the error message

Would this work or you prefer this to be fixed differently ?

---

This is an automatic backport of pull request #3556 done by Mergify.

[mergify]

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	both modified:   moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp

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[nbbrooks]

mergify you are killing me

[codecov]

Codecov Report

❌ Patch coverage is 50.00000% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 51.20%. Comparing base (e7004f4) to head (4a184ac).
⚠️ Report is 2 commits behind head on humble.

Files with missing lines	Patch %	Lines
...ontrol_interface/src/controller_manager_plugin.cpp	50.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #3766      +/-   ##
==========================================
- Coverage   51.21%   51.20%   -0.00%     
==========================================
  Files         407      407              
  Lines       30667    30667              
==========================================
- Hits        15704    15701       -3     
- Misses      14963    14966       +3     

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