Publish controller manager statistics to better introspect the timings (backport #2449)

[mergify]

This PR adds necessary changes required to add timing introspection for different parts of critical RT executions, this will help us introspect and fix the possible issues from both controller and hardware side.

Some tests that we ran our TALOS (2 kHz) - Using an earlier version of these changes

---

This is an automatic backport of pull request #2449 done by [Mergify](https://mergify.com).

[codecov]

Codecov Report

❌ Patch coverage is 94.05405% with 11 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.02%. Comparing base (911ba28) to head (ef6d1df).
⚠️ Report is 3 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
controller_manager/src/controller_manager.cpp	92.39%	5 Missing and 2 partials ⚠️
...lude/hardware_interface/types/statistics_types.hpp	94.87%	1 Missing and 3 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #2521      +/-   ##
==========================================
+ Coverage   88.96%   89.02%   +0.05%     
==========================================
  Files         144      145       +1     
  Lines       16344    16490     +146     
  Branches     1391     1396       +5     
==========================================
+ Hits        14541    14680     +139     
- Misses       1274     1278       +4     
- Partials      529      532       +3     

Flag	Coverage Δ
unittests	89.02% <94.05%> (+0.05%)	⬆️

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

Files with missing lines	Coverage Δ
.../include/controller_manager/controller_manager.hpp	96.87% <ø> (ø)
...ger/include/controller_manager/controller_spec.hpp	100.00% <ø> (ø)
...ontroller_manager/test/test_controller_manager.cpp	95.80% <100.00%> (ø)
...rface/include/hardware_interface/introspection.hpp	100.00% <100.00%> (ø)
hardware_interface/src/hardware_component.cpp	76.00% <100.00%> (ø)
...lude/hardware_interface/types/statistics_types.hpp	95.50% <94.87%> (+5.18%)	⬆️
controller_manager/src/controller_manager.cpp	75.08% <92.39%> (+0.76%)	⬆️

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.