Rewrite resource storage and add mimic test

[christophfroehlich]

I changed the storage of the component to be handled by the resource manager instead of inside of the component (deprecated).
The initial values of the handles are set by the RM -> removes some code here.

Mimic handling is similar to ros-controls/ros2_control#2571

I added a mimicked gripper integration test (similar to gz_ros2_control_demos) and also extended the gmock test to actually test some stuff (adapted from GenericSystem).

I fixed the behavior to accept joint_states from the robot with missing position interfaces, see topic_based_system_2dof_velocity_only. But it throws and deactivates if a topic with position fields is received but no state interfaces are configured, see topic_based_system_2dof_velocity_only_inconsistent_topic. Is this the intended behavior?

[codecov-commenter]

Codecov Report

❌ Patch coverage is 83.60656% with 30 lines in your changes missing coverage. Please review.
✅ Project coverage is 76.14%. Comparing base (cd86811) to head (a223bf5).

Files with missing lines	Patch %	Lines
...rface/src/joint_state_topic_hardware_interface.cpp	64.15%	11 Missing and 8 partials ⚠️
...test/joint_state_topic_hardware_interface_test.cpp	90.09%	9 Missing and 2 partials ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main      #44       +/-   ##
===========================================
+ Coverage   61.44%   76.14%   +14.70%     
===========================================
  Files           3        4        +1     
  Lines         249      327       +78     
  Branches       42       35        -7     
===========================================
+ Hits          153      249       +96     
+ Misses         75       55       -20     
- Partials       21       23        +2     

Flag	Coverage Δ
unittests	76.14% <83.60%> (+14.70%)	⬆️

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

Files with missing lines	Coverage Δ
...c_hardware_interface/test/gripper/test_gripper.cpp	100.00% <100.00%> (ø)
...test/joint_state_topic_hardware_interface_test.cpp	90.26% <90.09%> (+7.91%)	⬆️
...rface/src/joint_state_topic_hardware_interface.cpp	64.44% <64.15%> (+10.11%)	⬆️

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