Migrate hardware components to new handle API

[saikishor]

This PR is the start of many PRs to migrate the ros2_control packages to the new Handles API without having any reference to variables.

I also tested it out by commenting out the methods that are deprecated and the workspace builds properly

[codecov]

Codecov Report

❌ Patch coverage is 95.75163% with 13 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.34%. Comparing base (c12c3f2) to head (222a3e1).
⚠️ Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
...hardware_components/test_single_joint_actuator.cpp	0.00%	13 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2987      +/-   ##
==========================================
- Coverage   89.42%   89.34%   -0.08%     
==========================================
  Files         157      157              
  Lines       18747    18786      +39     
  Branches     1503     1502       -1     
==========================================
+ Hits        16765    16785      +20     
- Misses       1363     1375      +12     
- Partials      619      626       +7     

Flag	Coverage Δ
unittests	89.34% <95.75%> (-0.08%)	⬇️

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

Files with missing lines	Coverage Δ
...re_interface/include/hardware_interface/handle.hpp	77.51% <ø> (-1.85%)	⬇️
...terface/include/mock_components/generic_system.hpp	100.00% <ø> (ø)
...rface/test/mock_components/test_generic_system.cpp	99.76% <ø> (ø)
...dware_interface/test/test_component_interfaces.cpp	97.92% <100.00%> (+0.03%)	⬆️
hardware_interface/test/test_handle.cpp	99.09% <ø> (ø)
...t_hardware_components/test_force_torque_sensor.cpp	87.17% <100.00%> (+0.33%)	⬆️
.../test/test_hardware_components/test_imu_sensor.cpp	89.58% <100.00%> (-1.49%)	⬇️
...ware_components/test_system_with_command_modes.cpp	68.75% <100.00%> (+1.64%)	⬆️
...test_hardware_components/test_two_joint_system.cpp	58.33% <100.00%> (-2.20%)	⬇️
...ace_testing/test/test_components/test_actuator.cpp	87.05% <100.00%> (-0.27%)	⬇️
... and 5 more

... and 1 file with indirect coverage changes

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