[Diagnostics] Add diagnostics of execution time and periodicity of the hardware components #15
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This PR aims to add diagnostics to the hardware components regarding their periodicity and execution time.
This PR also publishes the periodicity of controller and HW components that run at different rate
Tested (ros-controls#2005) on the real hardware and it seems to work as expected
The diagnostics should kinda look like the following screenshots (The following are only to look at the summary):