[RM] Isolate start and stop interfaces for each Hardware Component

[saikishor]

This PR makes sure that the start and stop interfaces in perform_command_mode_switch and prepare_command_mode_switch methods of the Hardware components will receive only the interfaces they expose, instead of all of them as of now.

[codecov]

Codecov Report

Attention: Patch coverage is 94.87179% with 2 lines in your changes missing coverage. Please review.

Project coverage is 89.14%. Comparing base (d5c2c99) to head (30846d4).
Report is 2 commits behind head on master.

Files with missing lines	Patch %	Lines
hardware_interface/src/resource_manager.cpp	94.87%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2120      +/-   ##
==========================================
+ Coverage   89.11%   89.14%   +0.03%     
==========================================
  Files         139      139              
  Lines       16116    16146      +30     
  Branches     1389     1392       +3     
==========================================
+ Hits        14362    14394      +32     
  Misses       1224     1224              
+ Partials      530      528       -2     

Flag	Coverage Δ
unittests	89.14% <94.87%> (+0.03%)	⬆️

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

Files with missing lines	Coverage Δ
.../include/hardware_interface/actuator_interface.hpp	94.11% <ø> (ø)
...ce/include/hardware_interface/system_interface.hpp	86.84% <ø> (ø)
...t/test_resource_manager_prepare_perform_switch.cpp	100.00% <ø> (ø)
hardware_interface/src/resource_manager.cpp	77.78% <94.87%> (+0.99%)	⬆️

... and 1 file with indirect coverage changes

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[mergify]

This pull request is in conflict. Could you fix it @saikishor?