Enable setting of initial state in HW compoments (backport #1046)

[mergify]

This is an automatic backport of pull request #1046 done by Mergify.
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Changes to be committed:
	modified:   controller_manager/doc/userdoc.rst
	modified:   controller_manager/test/test_hardware_management_srvs.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   controller_manager/src/controller_manager.cpp
	both modified:   hardware_interface/include/hardware_interface/resource_manager.hpp
	both modified:   hardware_interface/src/resource_manager.cpp

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[bmagyar]

@destogl should we fix this or no backport?

[destogl]

We should fix this, but first merge #1052

[christophfroehlich]

needs #1216 first

[mergify]

This pull request is in conflict. Could you fix it @mergify[bot]?

[christophfroehlich]

@destogl I fixed this PR. ABI check fails, but this is only because of the test files? Shouldn't break anything from users?