Add diagnostics (backport #820)

[mergify]

This is an automatic backport of pull request #820 done by Mergify.
Cherry-pick of b1f31a1 has failed:

On branch mergify/bp/humble/pr-820
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit b1f31a1.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   controller_manager/CMakeLists.txt
	modified:   controller_manager/include/controller_manager/controller_manager.hpp
	modified:   controller_manager/package.xml

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   controller_manager/src/controller_manager.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[destogl]

This is ABi breaking, just to know... but agree very much.