Fix duplicate fallback controllers from the controller chain (backport #3108)

[mergify]

Fixes: #3038

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This is an automatic backport of pull request #3108 done by Mergify.

[codecov]

Codecov Report

❌ Patch coverage is 96.72131% with 2 lines in your changes missing coverage. Please review.
✅ Project coverage is 88.78%. Comparing base (e57360f) to head (9d2f5d3).

Files with missing lines	Patch %	Lines
...ontroller_manager/test/test_controller_manager.cpp	96.66%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #3326      +/-   ##
==========================================
- Coverage   88.79%   88.78%   -0.02%     
==========================================
  Files         160      160              
  Lines       19741    19801      +60     
  Branches     1603     1606       +3     
==========================================
+ Hits        17530    17581      +51     
- Misses       1560     1568       +8     
- Partials      651      652       +1     

Flag	Coverage Δ
unittests	88.78% <96.72%> (-0.02%)	⬇️

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

Files with missing lines	Coverage Δ
controller_manager/src/controller_manager.cpp	75.88% <100.00%> (ø)
...ontroller_manager/test/test_controller_manager.cpp	93.18% <96.66%> (+0.14%)	⬆️

... and 2 files with indirect coverage changes

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