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

[mergify]

Fixes: #3038

---

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 88.89%. Comparing base (d305b87) to head (752f477).

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

Additional details and impacted files

@@            Coverage Diff             @@
##           kilted    #3327      +/-   ##
==========================================
+ Coverage   88.87%   88.89%   +0.01%     
==========================================
  Files         160      160              
  Lines       19917    19977      +60     
  Branches     1624     1624              
==========================================
+ Hits        17701    17758      +57     
- Misses       1542     1545       +3     
  Partials      674      674              

Flag	Coverage Δ
unittests	88.89% <96.72%> (+0.01%)	⬆️

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	75.97% <100.00%> (ø)
...ontroller_manager/test/test_controller_manager.cpp	93.18% <96.66%> (+0.14%)	⬆️

... and 1 file with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.