Cleanup tests for controllers to not call `on_configure` if `on_init` fails

[destogl]

It guards against on_configure being called and resulting in a segfault in the case where on_init failed and param_listener_ is not yet valid.

Originally posted by @tylerjw in https://github.com/ros-controls/ros2_controllers/pull/395#discussion_r947001737

Then also cleanup the code from guards.

[jaron-l]

Isn't this a duplicate of #405?

[destogl]

It's actually inverse and expected behavior. Those will be resolved soon, when we merge all Parameters stuff.