add spawner for hardware (backport #941)

[mergify]

This is an automatic backport of pull request #941 done by Mergify.
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Changes to be committed:
	new file:   controller_manager/controller_manager/hardware_spawner.py
	modified:   controller_manager/setup.cfg
	modified:   controller_manager/src/controller_manager.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   controller_manager/controller_manager/__init__.py
	both modified:   controller_manager/controller_manager/controller_manager_services.py

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[christophfroehlich]

@destogl You reverted the deprecation warnings, should we then merge the backport of #1064 at all? Or just support both versions, without deprecating the old one?

[christophfroehlich]

@destogl You reverted the deprecation warnings, should we then merge the backport of #1064 at all? Or just support both versions, without deprecating the old one?

We decided to revert the last commit and backport #1064