Add lifecycle state checks

[bmagyar]

On top of #124, diffed against master. This PR can contain all additional checks we add on lifecycle states or whether we should have them at all.
The only real diff ATM is reverting the removal of checks

[codecov-io]

Codecov Report

Merging #127 (15198ab) into master (38f793d) will decrease coverage by 0.07%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master     #127      +/-   ##
==========================================
- Coverage   37.63%   37.56%   -0.08%     
==========================================
  Files          30       15      -15     
  Lines        3762     1874    -1888     
  Branches     2354     1176    -1178     
==========================================
- Hits         1416      704     -712     
+ Misses        246      121     -125     
+ Partials     2100     1049    -1051     

Flag	Coverage Δ
unittests	37.56% <ø> (-0.08%)	⬇️

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Impacted Files	Coverage Δ
...ller/test/test_load_forward_command_controller.cpp
...nt_state_controller/src/joint_state_controller.cpp
...ontroller/test/test_forward_command_controller.cpp
...int_trajectory_controller/test/test_trajectory.cpp
...ory_controller/src/joint_trajectory_controller.cpp
...ntroller/test/test_load_joint_state_controller.cpp
...ory_controller/src/joint_trajectory_controller.cpp
...ory_controller/test/test_trajectory_controller.cpp
...mand_controller/src/forward_command_controller.cpp
...ectory_controller/test/test_trajectory_actions.cpp
... and 35 more

[v-lopez]

Since the lifecycle changes are enforced by the controller manager, I don't think we need to check whether we're being used properly.
If we do need, we need to add on all controllers, and therefore will be copied by all future controller developers.

[bmagyar]

I wouldn't want to spend time on this given the understanding that we want to go back to lifecycle nodes at some point.

[bmagyar]

I've adjusted tests in #124 to make it pass without this