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.

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[codecov]

Codecov Report

❌ Patch coverage is 50.00000% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 46.24%. Comparing base (51849b3) to head (073e68d).

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

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #3767      +/-   ##
==========================================
- Coverage   46.24%   46.24%   -0.00%     
==========================================
  Files         718      718              
  Lines       59185    59183       -2     
  Branches     7597     7598       +1     
==========================================
- Hits        27365    27364       -1     
+ Misses      31656    31654       -2     
- Partials      164      165       +1     

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