Add handle_exceptions parameter to controller manager (backport #2807)

[mergify]

---

This is an automatic backport of pull request #2807 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of b5fd514 has failed:

On branch mergify/bp/jazzy/pr-2807
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit b5fd514.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   controller_manager/src/controller_manager.cpp
	modified:   controller_manager/src/controller_manager_parameters.yaml
	modified:   controller_manager/test/controller_manager_test_common.hpp
	modified:   controller_manager/test/test_controller/test_controller.cpp
	modified:   controller_manager/test/test_controller/test_controller.hpp
	modified:   controller_manager/test/test_controller_manager.cpp
	modified:   controller_manager/test/test_controller_manager_hardware_error_handling.cpp
	modified:   controller_manager/test/test_controller_manager_urdf_passing.cpp
	modified:   controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
	modified:   doc/debugging.rst
	modified:   hardware_interface/include/hardware_interface/resource_manager.hpp
	modified:   hardware_interface/include/hardware_interface/types/resource_manager_params.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   doc/release_notes.rst
	both modified:   hardware_interface/src/resource_manager.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[codecov]

Codecov Report

❌ Patch coverage is 68.55346% with 50 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.32%. Comparing base (f220551) to head (a023589).
⚠️ Report is 2 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
hardware_interface/src/resource_manager.cpp	37.50%	25 Missing ⚠️
controller_manager/src/controller_manager.cpp	17.64%	14 Missing ⚠️
...ontroller_manager/test/test_controller_manager.cpp	88.76%	10 Missing ⚠️
...er_manager/test/controller_manager_test_common.hpp	75.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #2849      +/-   ##
==========================================
- Coverage   89.48%   89.32%   -0.17%     
==========================================
  Files         152      152              
  Lines       17747    17892     +145     
  Branches     1448     1457       +9     
==========================================
+ Hits        15881    15982     +101     
- Misses       1291     1335      +44     
  Partials      575      575              

Flag	Coverage Δ
unittests	89.32% <68.55%> (-0.17%)	⬇️

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

Files with missing lines	Coverage Δ
...r_manager/test/test_controller/test_controller.cpp	87.80% <100.00%> (+0.79%)	⬆️
...r_manager/test/test_controller/test_controller.hpp	100.00% <ø> (ø)
...est_controller_manager_hardware_error_handling.cpp	100.00% <100.00%> (ø)
...ager/test/test_controller_manager_urdf_passing.cpp	100.00% <100.00%> (ø)
...t_controllers_chaining_with_controller_manager.cpp	99.25% <100.00%> (ø)
...rdware_interface/types/resource_manager_params.hpp	100.00% <ø> (ø)
...er_manager/test/controller_manager_test_common.hpp	88.15% <75.00%> (-0.89%)	⬇️
...ontroller_manager/test/test_controller_manager.cpp	95.74% <88.76%> (-0.49%)	⬇️
controller_manager/src/controller_manager.cpp	76.83% <17.64%> (-0.25%)	⬇️
hardware_interface/src/resource_manager.cpp	74.35% <37.50%> (-1.58%)	⬇️

... and 1 file with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.