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To start a controller immediately you should add a spawner node to your launch file. You can even control if controller should be started or only configured on the beginning using the flag "--stoppped" to only load and configure a controller.

joint_state_broadcaster_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
)

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