Addition of a Default Node for Hardware Component (backport #2348)

[mergify]

Brief

Now that we have access to the CM's executor from #2323, the user can add their nodes to it and create publishers and subscribers from them. The next step, which this PR addresses, is adding a node by default, with the hardware components name, and giving the user access to it through a get_node method.

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This is an automatic backport of pull request #2348 done by [Mergify](https://mergify.com).

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 88.62%. Comparing base (099cec1) to head (de1d00b).
Report is 1 commits behind head on jazzy.

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #2413      +/-   ##
==========================================
- Coverage   88.62%   88.62%   -0.01%     
==========================================
  Files         148      148              
  Lines       16918    16961      +43     
  Branches     1446     1449       +3     
==========================================
+ Hits        14994    15032      +38     
- Misses       1367     1373       +6     
+ Partials      557      556       -1     

Flag	Coverage Δ
unittests	88.62% <100.00%> (-0.01%)	⬇️

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

Files with missing lines	Coverage Δ
.../include/hardware_interface/actuator_interface.hpp	91.62% <100.00%> (+0.31%)	⬆️
...ce/include/hardware_interface/sensor_interface.hpp	86.84% <100.00%> (+0.86%)	⬆️
...ce/include/hardware_interface/system_interface.hpp	85.30% <100.00%> (+0.50%)	⬆️
...e_interface_testing/test/test_resource_manager.cpp	99.46% <100.00%> (+0.01%)	⬆️
...e_interface_testing/test/test_resource_manager.hpp	95.00% <100.00%> (+0.55%)	⬆️

... and 3 files with indirect coverage changes

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