Fix Ros2ControlManager chained controller logic

[pac48]

Description

It looks like this PR might have broken the chained controller management logic.
Previously, claimed_interfaces were being used to determine which joints each controller was associated with, but now required_command_interfaces is used. That seems reasonable, but it was not updated everywhere. Specifically, there is some logic to handle ros2_control's chained controllers that was not updated. This PR fixes that issue.

[codecov-commenter]

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Codecov Report

Attention: Patch coverage is 0% with 6 lines in your changes missing coverage. Please review.

Project coverage is 45.57%. Comparing base (bb7463a) to head (4dc0530).
Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...ontrol_interface/src/controller_manager_plugin.cpp	0.00%	6 Missing ⚠️

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Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3301      +/-   ##
==========================================
- Coverage   45.59%   45.57%   -0.02%     
==========================================
  Files         716      716              
  Lines       62385    62387       +2     
  Branches     7546     7544       -2     
==========================================
- Hits        28441    28429      -12     
- Misses      33778    33791      +13     
- Partials      166      167       +1     

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[sjahr]

Thanks!