Refactor spawner to be able to reuse code for ros2controlcli (backport #1661) #1695
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@christophfroehlich has mentioned that ros2 control CLI is missing the functionality to load controllers with the parameter files as we have now with the spawner. upon reviewing the code, the code would need some refactoring to reduce some duplication of code in both places and to be able also to load controllers with namespaced controller manager
This PR would be the first part of refactoring that can go along with #1562, once both the PRs are done, the ros2 control CLI can be modified to add the parameter parsing from the file and proper usage with namespacing.
This is an automatic backport of pull request #1661 done by Mergify.