Check the update_rate set to the controllers to be a valid one

[saikishor]

Right now, if we have set an invalid value to the update_rate (rate ggreater than CM's rate) the internal variable still holds the invalid one. This PR aims to add some checks to detect these situations and set it to the CM's rate.

[codecov]

Codecov Report

Attention: Patch coverage is 94.73684% with 1 line in your changes missing coverage. Please review.

Project coverage is 86.85%. Comparing base (0a2838a) to head (cc3acff).
Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
...roller_interface/src/controller_interface_base.cpp	85.71%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1788      +/-   ##
==========================================
- Coverage   86.86%   86.85%   -0.01%     
==========================================
  Files         121      121              
  Lines       11541    11558      +17     
  Branches     1054     1056       +2     
==========================================
+ Hits        10025    10039      +14     
- Misses       1142     1143       +1     
- Partials      374      376       +2     

Flag	Coverage Δ
unittests	86.85% <94.73%> (-0.01%)	⬇️

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

Files with missing lines	Coverage Δ
...oller_interface/test/test_controller_interface.cpp	100.00% <100.00%> (ø)
...ontroller_manager/test/test_controller_manager.cpp	93.86% <ø> (ø)
controller_manager/test/test_load_controller.cpp	100.00% <100.00%> (ø)
...roller_interface/src/controller_interface_base.cpp	85.71% <85.71%> (-0.57%)	⬇️

... and 1 file with indirect coverage changes