[Iron] Fix controller parameter loading issue in different cases (backport #1293)

[saikishor]

Backport of the PR: #1293

[mergify]

@saikishor, all pull requests must be targeted towards the master development branch.
Once merged into master, it is possible to backport to iron, but it must be in master
to have these changes reflected into new distributions.

[codecov]

Codecov Report

Attention: 24 lines in your changes are missing coverage. Please review.

Comparison is base (37c6c7c) 47.81% compared to head (62445a3) 47.61%.

Additional details and impacted files

@@            Coverage Diff             @@
##             iron    #1331      +/-   ##
==========================================
- Coverage   47.81%   47.61%   -0.20%     
==========================================
  Files          42       42              
  Lines        3547     3570      +23     
  Branches     1927     1945      +18     
==========================================
+ Hits         1696     1700       +4     
- Misses        468      477       +9     
- Partials     1383     1393      +10     

Flag	Coverage Δ
unittests	47.61% <14.28%> (-0.20%)	⬇️

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

Files	Coverage Δ
.../include/controller_manager/controller_manager.hpp	18.18% <ø> (ø)
controller_manager/src/controller_manager.cpp	38.28% <14.28%> (-0.41%)	⬇️