Add new interface_configuration_types and reusable methods (backport #2902)

[mergify]

This adds 2 new interface_configuration_types INDIVIDUAL_FLEXIBLE and REGEX so that they can be used with the new upcoming controllers

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This is an automatic backport of pull request #2902 done by Mergify.

[codecov]

Codecov Report

❌ Patch coverage is 97.01493% with 4 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.34%. Comparing base (fb50f75) to head (340d37e).
⚠️ Report is 1 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
controller_manager/src/controller_manager.cpp	94.44%	0 Missing and 4 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #2935      +/-   ##
==========================================
- Coverage   89.35%   89.34%   -0.02%     
==========================================
  Files         157      157              
  Lines       18561    18627      +66     
  Branches     1484     1489       +5     
==========================================
+ Hits        16585    16642      +57     
- Misses       1375     1383       +8     
- Partials      601      602       +1     

Flag	Coverage Δ
unittests	89.34% <97.01%> (-0.02%)	⬇️

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Files with missing lines	Coverage Δ
...controller_interface/controller_interface_base.hpp	90.90% <ø> (ø)
...ller_manager/test/test_controller_manager_srvs.cpp	99.44% <100.00%> (+0.02%)	⬆️
controller_manager/src/controller_manager.cpp	77.21% <94.44%> (-0.26%)	⬇️

... and 1 file with indirect coverage changes

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