[Controllers] Receive a valid period on the first update cycle

[saikishor]

Fixes #2336

This is done as an exception against the meaning of the period, so that the controllers won't have to repeat the operation again internally. It would also be easier to integrate with the PIDs internally.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 89.30%. Comparing base (56fc052) to head (64b9ecb).
⚠️ Report is 6 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2572      +/-   ##
==========================================
- Coverage   89.31%   89.30%   -0.01%     
==========================================
  Files         145      145              
  Lines       16541    16538       -3     
  Branches     1396     1396              
==========================================
- Hits        14773    14770       -3     
  Misses       1231     1231              
  Partials      537      537              

Flag	Coverage Δ
unittests	89.30% <100.00%> (-0.01%)	⬇️

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

Files with missing lines	Coverage Δ
controller_manager/src/controller_manager.cpp	75.13% <100.00%> (-0.05%)	⬇️
...ontroller_manager/test/test_controller_manager.cpp	95.54% <ø> (ø)

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[christophfroehlich]

LGTM