[RM] Isolate start and stop interfaces for each Hardware Component (backport #2120)

[mergify]

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.

---

This is an automatic backport of pull request #2120 done by Mergify.

[mergify]

Cherry-pick of 157beab has failed:

On branch mergify/bp/jazzy/pr-2120
Your branch is up to date with 'origin/jazzy'.

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  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   hardware_interface/include/hardware_interface/actuator_interface.hpp
	modified:   hardware_interface/include/hardware_interface/system_interface.hpp
	modified:   hardware_interface/src/resource_manager.cpp
	modified:   hardware_interface_testing/test/test_resource_manager_prepare_perform_switch.cpp

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 94.87179% with 2 lines in your changes missing coverage. Please review.

Project coverage is 88.71%. Comparing base (e84100a) to head (008412c).
Report is 11 commits behind head on jazzy.

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

Additional details and impacted files

@@           Coverage Diff           @@
##            jazzy    #2273   +/-   ##
=======================================
  Coverage   88.70%   88.71%           
=======================================
  Files         143      143           
  Lines       16437    16475   +38     
  Branches     1424     1427    +3     
=======================================
+ Hits        14581    14616   +35     
- Misses       1311     1312    +1     
- Partials      545      547    +2     

Flag	Coverage Δ
unittests	88.71% <94.87%> (+<0.01%)	⬆️

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	90.96% <ø> (ø)
...ce/include/hardware_interface/system_interface.hpp	84.26% <ø> (ø)
...t/test_resource_manager_prepare_perform_switch.cpp	100.00% <ø> (ø)
hardware_interface/src/resource_manager.cpp	74.48% <94.87%> (+0.26%)	⬆️

... and 4 files with indirect coverage changes

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