[rqt_controller_manager] Add hardware components (backport #1455)

[mergify]

In addition to #1248 I'd like to add the hardware components to the rqt_controller_manger.

It could also be a different rqt window, but if it is all in one we have the benefit of advertising hardware component lifecycles too.

Tooltip

It includes #1454 and #1447, but I hope they will get merged earlier.

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This is an automatic backport of pull request #1455 done by Mergify.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 87.45%. Comparing base (ae2ed7c) to head (af9beed).
Report is 3 commits behind head on iron.

Additional details and impacted files

@@           Coverage Diff           @@
##             iron    #1587   +/-   ##
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  Coverage   87.45%   87.45%           
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  Files         101      101           
  Lines        8078     8078           
  Branches      711      711           
=======================================
  Hits         7065     7065           
  Misses        717      717           
  Partials      296      296           

Flag	Coverage Δ
unittests	87.45% <ø> (ø)

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