[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 fixes the Async HW components runnings at different frequencies and also the periodicity of the main async components that run at mainline frequency

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

[christophfroehlich]

just some documentation comments at the moment. And is the failing downstream test related?

[christophfroehlich]

can we move some parts of the description to the parameters_context.yaml file, because they are repeating a lot? but I see that it is not sorted correctly in the rst, I'll have a look to fix that.

[saikishor]

I agree with you. Let's get this in as it is consistent with others for now, and let's fix it in a different PR?

[christophfroehlich]

the sorting is fixed now with ros-controls/control.ros.org#384

[saikishor]

Awesome. I fixed the paramters_context.yaml as you suggested :)

[saikishor]

just some documentation comments at the moment. And is the failing downstream test related?

I'm not sure. I'll take a look

[codecov]

Codecov Report

Attention: Patch coverage is 78.93462% with 87 lines in your changes missing coverage. Please review.

Project coverage is 89.01%. Comparing base (f8c03cc) to head (a59873f).
Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
controller_manager/src/controller_manager.cpp	52.68%	36 Missing and 8 partials ⚠️
.../include/hardware_interface/actuator_interface.hpp	81.25%	4 Missing and 5 partials ⚠️
...ce/include/hardware_interface/system_interface.hpp	81.25%	4 Missing and 5 partials ⚠️
hardware_interface/src/actuator.cpp	82.35%	2 Missing and 4 partials ⚠️
hardware_interface/src/system.cpp	82.35%	2 Missing and 4 partials ⚠️
...ce/include/hardware_interface/sensor_interface.hpp	81.81%	2 Missing and 2 partials ⚠️
...lude/hardware_interface/types/statistics_types.hpp	90.32%	1 Missing and 2 partials ⚠️
hardware_interface/src/resource_manager.cpp	91.17%	0 Missing and 3 partials ⚠️
hardware_interface/src/sensor.cpp	82.35%	1 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2005      +/-   ##
==========================================
- Coverage   89.35%   89.01%   -0.34%     
==========================================
  Files         130      131       +1     
  Lines       14576    14887     +311     
  Branches     1258     1303      +45     
==========================================
+ Hits        13024    13252     +228     
- Misses       1088     1138      +50     
- Partials      464      497      +33     

Flag	Coverage Δ
unittests	89.01% <78.93%> (-0.34%)	⬇️

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)
...e_interface_testing/test/test_resource_manager.cpp	99.50% <100.00%> (+0.03%)	⬆️
...lude/hardware_interface/types/statistics_types.hpp	90.32% <90.32%> (ø)
hardware_interface/src/resource_manager.cpp	75.18% <91.17%> (+0.15%)	⬆️
hardware_interface/src/sensor.cpp	75.57% <82.35%> (-0.47%)	⬇️
...ce/include/hardware_interface/sensor_interface.hpp	90.00% <81.81%> (-5.39%)	⬇️
hardware_interface/src/actuator.cpp	79.41% <82.35%> (-1.26%)	⬇️
hardware_interface/src/system.cpp	79.41% <82.35%> (-1.26%)	⬇️
... and 3 more

... and 4 files with indirect coverage changes