[Spawner - utils] Improve launch utils to support the multiple controller names (backport #1782)

[mergify]

This PR aims to add a new method that supports the multiple controller names parsing when generating the launch description

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This is an automatic backport of pull request #1782 done by Mergify.

[mergify]

Cherry-pick of 88441b0 has failed:

On branch mergify/bp/humble/pr-1782
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	both modified:   controller_manager/controller_manager/launch_utils.py

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[mergify]

This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich?

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 5 lines in your changes missing coverage. Please review.

Project coverage is 62.34%. Comparing base (d3de746) to head (89e2ff4).
Report is 1 commits behind head on humble.

Files with missing lines	Patch %	Lines
...troller_manager/controller_manager/launch_utils.py	0.00%	5 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #1783      +/-   ##
==========================================
- Coverage   62.36%   62.34%   -0.02%     
==========================================
  Files         108      108              
  Lines       11409    11412       +3     
  Branches     7982     7982              
==========================================
  Hits         7115     7115              
- Misses        817      820       +3     
  Partials     3477     3477              

Flag	Coverage Δ
unittests	62.34% <0.00%> (-0.02%)	⬇️

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Files with missing lines	Coverage Δ
...troller_manager/controller_manager/launch_utils.py	0.00% <0.00%> (ø)