Cleanup wrong lifecycle transitions in tests and unnecessary checks

[christophfroehlich]

• We can assume that only valid transitions are performed (on_configure only if on_init succeeded)
• CM calls the update methods of controllers only in active state, so we don't have to check that again, and we also should not do that in the tests.

Closes #417 and closes #405 and closes #1501

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 84.49%. Comparing base (c83cfb3) to head (34b4a2c).
Report is 1 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1534      +/-   ##
==========================================
+ Coverage   84.27%   84.49%   +0.21%     
==========================================
  Files         123      123              
  Lines       11359    11297      -62     
  Branches      961      950      -11     
==========================================
- Hits         9573     9545      -28     
+ Misses       1470     1446      -24     
+ Partials      316      306      -10     

Flag	Coverage Δ
unittests	84.49% <100.00%> (+0.21%)	⬆️

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

Files with missing lines	Coverage Δ
...iff_drive_controller/src/diff_drive_controller.cpp	74.77% <100.00%> (+1.96%)	⬆️
...ive_controller/test/test_diff_drive_controller.cpp	94.31% <ø> (-0.02%)	⬇️
...mand_controller/src/forward_command_controller.cpp	100.00% <ø> (+20.00%)	⬆️
...src/multi_interface_forward_command_controller.cpp	100.00% <ø> (+18.75%)	⬆️
gpio_controllers/src/gpio_command_controller.cpp	86.78% <ø> (+1.47%)	⬆️
...per_controllers/gripper_action_controller_impl.hpp	32.11% <ø> (+0.68%)	⬆️
..._state_broadcaster/src/joint_state_broadcaster.cpp	89.17% <ø> (-0.07%)	⬇️
..._broadcaster/test/test_joint_state_broadcaster.cpp	96.60% <ø> (-0.03%)	⬇️
...ory_controller/src/joint_trajectory_controller.cpp	85.21% <ø> (+0.32%)	⬆️
...ectory_controller/test/test_trajectory_actions.cpp	97.10% <ø> (-0.01%)	⬇️
... and 6 more

... and 3 files with indirect coverage changes

[saikishor]

Thanks for cleaning things.
Looks very good to me.

Great job 👏🏾