[JSB] Fix the behaviour of publishing unavailable state interfaces when they are previously available (backport #1331)

[mergify]

Hello!

While reviewing the Example 13, I came across this situation described in the comment : ros-controls/ros2_control_demos#417 (comment)

After debugging, the resource manager properly sets the state interfaces. However, some internal variables are not properly reset, and this results in the publishing of previously available interfaces.

The proposed fix fixes the issue of properly publishing the state of the known state interfaces alone

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This is an automatic backport of pull request #1331 done by Mergify.

[codecov]

Codecov Report

Attention: Patch coverage is 38.09524% with 39 lines in your changes missing coverage. Please review.

Project coverage is 65.20%. Comparing base (115ef91) to head (0cdd100).
Report is 1 commits behind head on humble.

Files with missing lines	Patch %	Lines
..._broadcaster/test/test_joint_state_broadcaster.cpp	35.00%	0 Missing and 39 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #1339      +/-   ##
==========================================
- Coverage   65.25%   65.20%   -0.05%     
==========================================
  Files         107      107              
  Lines       12219    12282      +63     
  Branches     7536     7589      +53     
==========================================
+ Hits         7973     8009      +36     
+ Misses       1561     1555       -6     
- Partials     2685     2718      +33     

Flag	Coverage Δ
unittests	65.20% <38.09%> (-0.05%)	⬇️

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

Files with missing lines	Coverage Δ
..._state_broadcaster/src/joint_state_broadcaster.cpp	83.04% <100.00%> (+2.08%)	⬆️
..._broadcaster/test/test_joint_state_broadcaster.cpp	49.81% <35.00%> (+0.02%)	⬆️