Fix Ros2ControlManager chained controller logic (backport #3301)

[mergify]

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.

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This is an automatic backport of pull request #3301 done by [Mergify](https://mergify.com).

[codecov-commenter]

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Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 51.40%. Comparing base (ed91e7d) to head (1c35707).
Report is 1 commits behind head on humble.

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Additional details and impacted files

@@           Coverage Diff           @@
##           humble    #3306   +/-   ##
=======================================
  Coverage   51.40%   51.40%           
=======================================
  Files         382      382           
  Lines       31899    31899           
=======================================
  Hits        16394    16394           
  Misses      15505    15505           

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