[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 81.01266% with 60 lines in your changes missing coverage. Please review.

Project coverage is 88.90%. Comparing base (7d81236) to head (91fefea).
Report is 9 commits behind head on master.

Files with missing lines	Patch %	Lines
controller_manager/src/controller_manager.cpp	51.61%	36 Missing and 9 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/actuator.cpp	86.36%	0 Missing and 3 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   89.12%   88.90%   -0.23%     
==========================================
  Files         139      140       +1     
  Lines       16117    16410     +293     
  Branches     1389     1430      +41     
==========================================
+ Hits        14364    14589     +225     
- Misses       1224     1267      +43     
- Partials      529      554      +25     

Flag	Coverage Δ
unittests	88.90% <81.01%> (-0.23%)	⬇️

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	89.55% <100.00%> (+1.02%)	⬆️
...rface_testing/test/test_components/test_system.cpp	87.87% <100.00%> (+1.21%)	⬆️
...e_interface_testing/test/test_resource_manager.cpp	99.47% <100.00%> (+0.06%)	⬆️
hardware_interface/src/sensor.cpp	76.66% <81.81%> (+0.23%)	⬆️
...lude/hardware_interface/types/statistics_types.hpp	90.32% <90.32%> (ø)
hardware_interface/src/actuator.cpp	80.52% <86.36%> (+0.52%)	⬆️
hardware_interface/src/resource_manager.cpp	76.84% <80.00%> (-0.37%)	⬇️
... and 2 more

... and 2 files with indirect coverage changes

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[christophfroehlich]

I tested this successfully on my robot today. It gave me strange results, but it was the first time that I was able to introspect this ;)

[Juliaj]

LGTM.