Fix the crashing joint limiters when used with multiple interfaces (backport #2371)

[mergify]

Fixes: #2248
Unblocks: ros-controls/ros2_control_demos#805

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This is an automatic backport of pull request #2371 done by Mergify.

[codecov]

Codecov Report

Attention: Patch coverage is 91.66667% with 4 lines in your changes missing coverage. Please review.

Project coverage is 88.69%. Comparing base (865a596) to head (882432c).
Report is 1 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
joint_limits/src/joint_range_limiter.cpp	80.00%	1 Missing and 1 partial ⚠️
hardware_interface/src/resource_manager.cpp	50.00%	1 Missing ⚠️
...nt_limits/include/joint_limits/data_structures.hpp	85.71%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #2398      +/-   ##
==========================================
+ Coverage   88.66%   88.69%   +0.03%     
==========================================
  Files         145      145              
  Lines       16747    16752       +5     
  Branches     1444     1449       +5     
==========================================
+ Hits        14849    14859      +10     
+ Misses       1335     1333       -2     
+ Partials      563      560       -3     

Flag	Coverage Δ
unittests	88.69% <91.66%> (+0.03%)	⬆️

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

Files with missing lines	Coverage Δ
joint_limits/src/joint_limits_helpers.cpp	89.69% <100.00%> (+1.45%)	⬆️
joint_limits/src/joint_soft_limiter.cpp	89.68% <100.00%> (+0.71%)	⬆️
joint_limits/test/test_joint_soft_limiter.cpp	99.64% <100.00%> (+<0.01%)	⬆️
hardware_interface/src/resource_manager.cpp	74.44% <50.00%> (+0.38%)	⬆️
...nt_limits/include/joint_limits/data_structures.hpp	44.73% <85.71%> (+9.25%)	⬆️
joint_limits/src/joint_range_limiter.cpp	90.90% <80.00%> (+3.03%)	⬆️

... and 1 file with indirect coverage changes

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