Small improvements to the error output in component parser to make de…

…bugging easier. (backport #1580) (#1581)

* Small improvements to the error output in component parser to make debugging easier. (#1580)

* Small improvements to the error output in component parser to make debugging easier.

* Correct formatting.

(cherry picked from commit fbb893b)

# Conflicts:
#	hardware_interface/src/component_parser.cpp

* Fix merge conflict

---------

Co-authored-by: Dr. Denis <denis@stoglrobotics.de>
Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>

hardware_interface/src/component_parser.cpp

@@ -563,11 +563,13 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
   tinyxml2::XMLDocument doc;
   if (!doc.Parse(urdf.c_str()) && doc.Error())
   {
-    throw std::runtime_error("invalid URDF passed in to robot parser");
+    throw std::runtime_error(
+      "invalid URDF passed in to robot parser: " + std::string(doc.ErrorStr()));
   }
   if (doc.Error())
   {
-    throw std::runtime_error("invalid URDF passed in to robot parser");
+    throw std::runtime_error(
+      "invalid URDF passed in to robot parser: " + std::string(doc.ErrorStr()));
   }
 
   // Find robot tag