[Diagnostics] Add diagnostics of execution time and periodicity of the hardware components

[saikishor]

This PR aims to add diagnostics to the hardware components regarding their periodicity and execution time.

This PR also publishes the periodicity of controller and HW components that run at different rate

This PR also adds new tests for the asynchronous hardware components that were pending in #2076

Tested (#2005) on the real hardware and it seems to work as expected

The diagnostics should kinda look like the following screenshots (The following are only to look at the summary):

[christophfroehlich]

Changes look fine, and tested with the demos. Thanks!

[codecov]

Codecov Report

Attention: Patch coverage is 80.69620% with 61 lines in your changes missing coverage. Please review.

Project coverage is 89.32%. Comparing base (bfbedd2) to head (ca2efad).

Files with missing lines	Patch %	Lines
controller_manager/src/controller_manager.cpp	51.61%	36 Missing and 9 partials ⚠️
hardware_interface/src/actuator.cpp	81.81%	0 Missing and 4 partials ⚠️
hardware_interface/src/system.cpp	81.81%	0 Missing and 4 partials ⚠️
...lude/hardware_interface/types/statistics_types.hpp	90.32%	1 Missing and 2 partials ⚠️
hardware_interface/src/resource_manager.cpp	80.00%	0 Missing and 3 partials ⚠️
hardware_interface/src/sensor.cpp	81.81%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2086      +/-   ##
==========================================
- Coverage   89.59%   89.32%   -0.27%     
==========================================
  Files         139      140       +1     
  Lines       15222    15517     +295     
  Branches     1290     1331      +41     
==========================================
+ Hits        13638    13861     +223     
- Misses       1096     1142      +46     
- Partials      488      514      +26     

Flag	Coverage Δ
unittests	89.32% <80.69%> (-0.27%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
..._interface/include/hardware_interface/actuator.hpp	100.00% <ø> (ø)
...re_interface/include/hardware_interface/sensor.hpp	100.00% <ø> (ø)
...re_interface/include/hardware_interface/system.hpp	100.00% <ø> (ø)
...ace_testing/test/test_components/test_actuator.cpp	87.71% <100.00%> (+1.44%)	⬆️
...rface_testing/test/test_components/test_system.cpp	86.44% <100.00%> (+1.53%)	⬆️
...e_interface_testing/test/test_resource_manager.cpp	99.54% <100.00%> (+0.05%)	⬆️
hardware_interface/src/sensor.cpp	76.47% <81.81%> (+0.28%)	⬆️
...lude/hardware_interface/types/statistics_types.hpp	90.32% <90.32%> (ø)
hardware_interface/src/resource_manager.cpp	76.87% <80.00%> (+0.05%)	⬆️
hardware_interface/src/actuator.cpp	80.11% <81.81%> (-0.02%)	⬇️
... and 2 more

... and 4 files with indirect coverage changes

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