Add detach async policy for rate critical frameworks (backport #2477)

[mergify]

For frameworks such as EtherCAT that run at high frequency. if the deadline is not met, then the master will start showing errors and eventually it might lead to non-functional system. For this reason, instead of the previous approach where the CM acts as a scheduler for the async activity, I've added a possibility for the component to manage it's own cycle

Needs: ros-controls/realtime_tools#383
Needs: ros-controls/realtime_tools#402

---

This is an automatic backport of pull request #2477 done by Mergify.

[mergify]

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Changes to be committed:
	modified:   hardware_interface/doc/asynchronous_components.rst
	modified:   hardware_interface/include/hardware_interface/hardware_component_interface.hpp
	modified:   hardware_interface/include/hardware_interface/hardware_info.hpp
	modified:   hardware_interface/include/hardware_interface/lexical_casts.hpp
	modified:   hardware_interface/src/component_parser.cpp
	modified:   hardware_interface/src/hardware_component.cpp
	modified:   hardware_interface/src/lexical_casts.cpp
	modified:   hardware_interface/test/test_component_parser.cpp
	modified:   ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   doc/migration.rst
	both modified:   doc/release_notes.rst

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[codecov]

Codecov Report

❌ Patch coverage is 83.67347% with 8 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.04%. Comparing base (9def8aa) to head (f49637d).
⚠️ Report is 5 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
hardware_interface/src/component_parser.cpp	56.25%	2 Missing and 5 partials ⚠️
...ardware_interface/hardware_component_interface.hpp	94.73%	1 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##            jazzy    #2600   +/-   ##
=======================================
  Coverage   89.04%   89.04%           
=======================================
  Files         147      147           
  Lines       16594    16638   +44     
  Branches     1400     1405    +5     
=======================================
+ Hits        14776    14816   +40     
  Misses       1288     1288           
- Partials      530      534    +4     

Flag	Coverage Δ
unittests	89.04% <83.67%> (+<0.01%)	⬆️

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

Files with missing lines	Coverage Δ
...rface/include/hardware_interface/hardware_info.hpp	81.48% <ø> (ø)
...rface/include/hardware_interface/lexical_casts.hpp	68.00% <ø> (ø)
hardware_interface/src/hardware_component.cpp	76.69% <100.00%> (+0.69%)	⬆️
hardware_interface/src/lexical_casts.cpp	84.61% <100.00%> (+2.00%)	⬆️
hardware_interface/test/test_component_parser.cpp	98.98% <100.00%> (+<0.01%)	⬆️
...ardware_interface/hardware_component_interface.hpp	87.39% <94.73%> (+1.29%)	⬆️
hardware_interface/src/component_parser.cpp	92.51% <56.25%> (-1.37%)	⬇️

... and 1 file with indirect coverage changes

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