Modify resource manager logic to support multiple hardware components #1391
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What does this implement/fix?
The current implementation requires that all components have the appropriate interface and will not work well if the hardware is split into multiple components.
It should only be necessary for one component to have an interface, so we will modify the logic accordingly.
Specifically, we are considering the following examples.
If you want to connect to follower_joint1/effort, it should be no problem if component 1 has the corresponding interface.
Does this close any currently open issues?
I don't have Franka Emika Panda so I am not able to reproduce the same situation completely,
but this PR may solve this issue.
#1177