Migrate hardware components to new handle API (backport #2987)

[mergify]

This PR is the start of many PRs to migrate the ros2_control packages to the new Handles API without having any reference to variables.

I also tested it out by commenting out the methods that are deprecated and the workspace builds properly

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This is an automatic backport of pull request #2987 done by Mergify.

[codecov]

Codecov Report

❌ Patch coverage is 96.06061% with 13 lines in your changes missing coverage. Please review.
✅ Project coverage is 88.96%. Comparing base (e347e2e) to head (74d75d6).
⚠️ Report is 12 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
...hardware_components/test_single_joint_actuator.cpp	0.00%	13 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #3185      +/-   ##
==========================================
- Coverage   89.03%   88.96%   -0.07%     
==========================================
  Files         158      158              
  Lines       19494    19543      +49     
  Branches     1588     1583       -5     
==========================================
+ Hits        17356    17387      +31     
- Misses       1495     1509      +14     
- Partials      643      647       +4     

Flag	Coverage Δ
unittests	88.96% <96.06%> (-0.07%)	⬇️

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

Files with missing lines	Coverage Δ
...rface/test/test_chainable_controller_interface.cpp	100.00% <100.00%> (ø)
...chainable_controller/test_chainable_controller.cpp	85.84% <100.00%> (ø)
...re_interface/include/hardware_interface/handle.hpp	79.83% <ø> (-1.95%)	⬇️
...de/hardware_interface/loaned_command_interface.hpp	58.13% <ø> (ø)
...lude/hardware_interface/loaned_state_interface.hpp	66.66% <ø> (ø)
...terface/include/mock_components/generic_system.hpp	100.00% <ø> (ø)
...rface/test/mock_components/test_generic_system.cpp	99.76% <ø> (ø)
...dware_interface/test/test_component_interfaces.cpp	97.92% <100.00%> (+0.03%)	⬆️
hardware_interface/test/test_handle.cpp	99.09% <ø> (ø)
...t_hardware_components/test_force_torque_sensor.cpp	87.17% <100.00%> (+0.33%)	⬆️
... and 9 more

... and 3 files with indirect coverage changes

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