Deactivate the controller chain upon failed group activation (backport #2669)

[mergify]

We had an issue recently that one of the upper-level torque reference provider controllers failed to activate, and this has caused the other controllers in the chain to have an invalid zero reference to tracking and which closely destroyed our robot. For this reason, I'm proposing this behaviour, while using BEST_EFFORT strictness, it should be similar to the current approach and however, with the STRICT strictness, if one of them fails to activate, then just deactivate all of the group.

I'll need to handle the same situation when it happens in the update cycle, that I'll do it in a different PR

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This is an automatic backport of pull request #2669 done by Mergify.

[codecov]

Codecov Report

❌ Patch coverage is 92.07921% with 8 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.33%. Comparing base (d524747) to head (951b51c).
⚠️ Report is 1 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
...ontroller_manager/test/test_controller_manager.cpp	92.64%	5 Missing ⚠️
controller_manager/src/controller_manager.cpp	91.30%	1 Missing and 1 partial ⚠️
...ontroller_manager/test/test_release_interfaces.cpp	85.71%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #2737      +/-   ##
==========================================
+ Coverage   89.28%   89.33%   +0.04%     
==========================================
  Files         152      152              
  Lines       17153    17237      +84     
  Branches     1425     1427       +2     
==========================================
+ Hits        15315    15398      +83     
- Misses       1271     1273       +2     
+ Partials      567      566       -1     

Flag	Coverage Δ
unittests	89.33% <92.07%> (+0.04%)	⬆️

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

Files with missing lines	Coverage Δ
.../include/controller_manager/controller_manager.hpp	97.29% <ø> (-0.08%)	⬇️
...e_interface/include/hardware_interface/helpers.hpp	96.87% <100.00%> (+0.32%)	⬆️
...ontroller_manager/test/test_release_interfaces.cpp	90.27% <85.71%> (-0.24%)	⬇️
controller_manager/src/controller_manager.cpp	76.84% <91.30%> (+0.39%)	⬆️
...ontroller_manager/test/test_controller_manager.cpp	95.34% <92.64%> (-0.20%)	⬇️

... and 11 files with indirect coverage changes

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