check for state of the controller node before cleanup (backport #1363)

[mergify]

This is an automatic backport of pull request #1363 done by Mergify.
Cherry-pick of 6f57faf has failed:

On branch mergify/bp/iron/pr-1363
Your branch is up to date with 'origin/iron'.

You are currently cherry-picking commit 6f57faf.
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Changes to be committed:
	modified:   controller_manager/src/controller_manager.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   controller_manager/test/test_controller_manager_srvs.cpp

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[saikishor]

This might fix the conflicts

[christophfroehlich]

This might fix the conflicts

unfortunately no :/

[saikishor]

We would need to remove this part of the test for it to compile

[codecov]

Codecov Report

Attention: Patch coverage is 20.00000% with 4 lines in your changes are missing coverage. Please review.

Project coverage is 75.43%. Comparing base (0c647de) to head (90b0765).

Additional details and impacted files

@@            Coverage Diff             @@
##             iron    #1379      +/-   ##
==========================================
- Coverage   75.52%   75.43%   -0.09%     
==========================================
  Files          42       42              
  Lines        3371     3375       +4     
  Branches     1943     1944       +1     
==========================================
  Hits         2546     2546              
- Misses        442      443       +1     
- Partials      383      386       +3     

Flag	Coverage Δ
unittests	75.43% <20.00%> (-0.09%)	⬇️

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

Files	Coverage Δ
controller_manager/src/controller_manager.cpp	68.22% <20.00%> (-0.25%)	⬇️