Update ControllerManager documenation describing some concepts #677
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Co-authored-by: Chen Bainian <brian97cbn@gmail.com>
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(cherry picked from commit 4037719b3342595ae2ff31d99dde44d55b33c788) Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
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There are some recurring questions recently. Let's start to add them into documentation. This specific one is triggered by this discourse thread.