Use Pimpl approach for controller and hardware component interfaces (backport #2898)

[mergify]

I've updated with the Pimpl approach to protect the ABI stability in the future

---

This is an automatic backport of pull request #2898 done by Mergify.

[mergify]

Cherry-pick of 3da3861 has failed:

On branch mergify/bp/kilted/pr-2898
Your branch is up to date with 'origin/kilted'.

You are currently cherry-picking commit 3da3861.
  (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:   controller_interface/include/controller_interface/controller_interface_base.hpp
	modified:   controller_interface/src/controller_interface_base.cpp
	modified:   hardware_interface/CMakeLists.txt
	new file:   hardware_interface/src/hardware_component_interface.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   hardware_interface/include/hardware_interface/hardware_component_interface.hpp

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

❌ Patch coverage is 82.76923% with 56 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.44%. Comparing base (95bdc89) to head (dba14d3).
⚠️ Report is 1 commits behind head on kilted.

Files with missing lines	Patch %	Lines
...are_interface/src/hardware_component_interface.cpp	81.10%	44 Missing and 4 partials ⚠️
...roller_interface/src/controller_interface_base.cpp	89.70%	0 Missing and 7 partials ⚠️
...controller_interface/controller_interface_base.hpp	66.66%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           kilted    #2932      +/-   ##
==========================================
- Coverage   89.48%   89.44%   -0.05%     
==========================================
  Files         156      157       +1     
  Lines       18633    18638       +5     
  Branches     1493     1493              
==========================================
- Hits        16674    16670       -4     
+ Misses       1356     1355       -1     
- Partials      603      613      +10     

Flag	Coverage Δ
unittests	89.44% <82.76%> (-0.05%)	⬇️

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

Files with missing lines	Coverage Δ
...ardware_interface/hardware_component_interface.hpp	55.55% <ø> (-19.71%)	⬇️
...controller_interface/controller_interface_base.hpp	90.90% <66.66%> (-0.76%)	⬇️
...roller_interface/src/controller_interface_base.cpp	84.37% <89.70%> (+0.16%)	⬆️
...are_interface/src/hardware_component_interface.cpp	81.10% <81.10%> (ø)

... and 9 files with indirect coverage changes

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