Add data_type field to the HardwareInterfaces message (backport #2204)

[mergify]

This would be interesting to have when we extend the data types in the handles. Now, the CLI will also show the type of the interface, so it is much easier for the users to understand the types from a closed system. Below will be the output with these changes

$ ros2 control list_hardware_interfaces 
command interfaces
	joint1/position [available] [claimed]
	joint1_position_controller/joint1/position [available] [unclaimed]
	joint2/position [available] [claimed]
	joint2_position_controller/joint2/position [available] [unclaimed]
state interfaces
	joint1/position
	joint2/position

$ ros2 control list_hardware_interfaces -v
command interfaces
	joint1/position [double] [available] [claimed]
	joint1_position_controller/joint1/position [double] [available] [unclaimed]
	joint2/position [double] [available] [claimed]
	joint2_position_controller/joint2/position [double] [available] [unclaimed]
state interfaces
	joint1/position [double]
	joint2/position [double]

$ ros2 control list_hardware_components 
Hardware Component 1
	name: RRBot
	type: system
	plugin name: ros2_control_demo_example_12/RRBotSystemPositionOnlyHardware
	state: id=3 label=active
	read/write rate: 10 Hz
	is_async: False
	command interfaces
		joint2/position [available] [claimed]
		joint1/position [available] [claimed]

$ ros2 control list_hardware_components -v
Hardware Component 1
	name: RRBot
	type: system
	plugin name: ros2_control_demo_example_12/RRBotSystemPositionOnlyHardware
	state: id=3 label=active
	read/write rate: 10 Hz
	is_async: False
	command interfaces
		joint2/position [double] [available] [claimed]
		joint1/position [double] [available] [claimed]
	state interfaces
		joint2/position [double] [available]
		joint1/position [double] [available]

---

This is an automatic backport of pull request #2204 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of 0c7cb99 has failed:

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Changes to be committed:
	modified:   controller_manager/src/controller_manager.cpp
	modified:   controller_manager_msgs/msg/HardwareInterface.msg
	modified:   hardware_interface/include/hardware_interface/resource_manager.hpp
	modified:   hardware_interface/src/resource_manager.cpp
	modified:   ros2controlcli/doc/userdoc.rst
	modified:   ros2controlcli/ros2controlcli/verb/list_hardware_components.py
	modified:   ros2controlcli/ros2controlcli/verb/list_hardware_interfaces.py

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   doc/release_notes.rst

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[codecov]

Codecov Report

Attention: Patch coverage is 75.00000% with 4 lines in your changes missing coverage. Please review.

Please upload report for BASE (jazzy@13f94d6). Learn more about missing BASE report.

Files with missing lines	Patch %	Lines
hardware_interface/src/resource_manager.cpp	66.66%	2 Missing and 2 partials ⚠️

Additional details and impacted files

@@           Coverage Diff            @@
##             jazzy    #2232   +/-   ##
========================================
  Coverage         ?   88.58%           
========================================
  Files            ?      142           
  Lines            ?    16490           
  Branches         ?     1430           
========================================
  Hits             ?    14608           
  Misses           ?     1329           
  Partials         ?      553           

Flag	Coverage Δ
unittests	88.58% <75.00%> (?)

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Files with missing lines	Coverage Δ
controller_manager/src/controller_manager.cpp	75.08% <100.00%> (ø)
hardware_interface/src/resource_manager.cpp	73.70% <66.66%> (ø)

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[christophfroehlich]

cross-checking: ABI break is fine?

failing docs get fixed with #2241

[saikishor]

cross-checking: ABI break is fine?

failing docs get fixed with #2241

I guess so

[christophfroehlich]

The API changes are fine because only internal, but we break the message types used in the services. This is mostly used with CLI verbs I guess, but it might break users rosbags. @bmagyar any red flag in merging this?

[bmagyar]

This is important for whatever else we'd like to land in Jazzy with Variants.