Add state_interfaces_broadcaster (backport #2006)

[mergify]

This PR adds a new broadcaster that publishes the values of the interfaces in the same order defined in the broadcaster configuration. This is very useful, especially for the physical AI application, where the observation vector can be properly created beforehand

needs: ros-controls/control_msgs#273

---

This is an automatic backport of pull request #2006 done by Mergify.

[mergify]

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Changes to be committed:
	modified:   doc/controllers_index.rst
	modified:   ros2_controllers/doc/index.rst
	modified:   ros2_controllers/package.xml
	new file:   state_interfaces_broadcaster/CMakeLists.txt
	new file:   state_interfaces_broadcaster/doc/userdoc.rst
	new file:   state_interfaces_broadcaster/include/state_interfaces_broadcaster/state_interfaces_broadcaster.hpp
	new file:   state_interfaces_broadcaster/package.xml
	new file:   state_interfaces_broadcaster/src/state_interfaces_broadcaster.cpp
	new file:   state_interfaces_broadcaster/src/state_interfaces_broadcaster_parameters.yaml
	new file:   state_interfaces_broadcaster/state_interfaces_broadcaster_plugin.xml
	new file:   state_interfaces_broadcaster/test/test_load_state_interfaces_broadcaster.cpp
	new file:   state_interfaces_broadcaster/test/test_state_interfaces_broadcaster.cpp
	new file:   state_interfaces_broadcaster/test/test_state_interfaces_broadcaster.hpp
	new file:   state_interfaces_broadcaster/test/test_state_interfaces_broadcaster_params.yaml

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

❌ Patch coverage is 73.64865% with 39 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.69%. Comparing base (728a19d) to head (238d96b).
⚠️ Report is 1 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
...dcaster/test/test_state_interfaces_broadcaster.cpp	73.40%	11 Missing and 14 partials ⚠️
...s_broadcaster/src/state_interfaces_broadcaster.cpp	68.88%	11 Missing and 3 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #2076      +/-   ##
==========================================
- Coverage   84.81%   84.69%   -0.12%     
==========================================
  Files         143      146       +3     
  Lines       14035    14183     +148     
  Branches     1230     1255      +25     
==========================================
+ Hits        11904    12013     +109     
- Misses       1697     1719      +22     
- Partials      434      451      +17     

Flag	Coverage Δ
unittests	84.69% <73.64%> (-0.12%)	⬇️

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

Files with missing lines	Coverage Δ
...er/test/test_load_state_interfaces_broadcaster.cpp	100.00% <100.00%> (ø)
...s_broadcaster/src/state_interfaces_broadcaster.cpp	68.88% <68.88%> (ø)
...dcaster/test/test_state_interfaces_broadcaster.cpp	73.40% <73.40%> (ø)

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