Reuse import_state_interface_descriptions and import_command_interface_descriptions

[saikishor]

As we discussed in yesterday's WG meeting, once the #1688 is merged, we would like to modify the import_state_interface_descriptions and import_command_interface_descriptions instead of parsing the hardware info to them, we simply parse the hardware_info_.joints and hardware_info_.sensors and it imports accordingly etc

  void import_state_interface_descriptions(const HardwareInfo & hardware_info)
  {
    auto joint_state_interface_descriptions =
      parse_state_interface_descriptions(hardware_info.joints);
    for (const auto & description : joint_state_interface_descriptions)
    {
      joint_state_interfaces_.insert(std::make_pair(description.get_name(), description));
    }
  }

  void import_state_interface_descriptions(const std::vector<ComponentInfo> & components_info)
  {
    auto state_interface_descriptions =
      parse_state_interface_descriptions(components_info);
    for (const auto & description : state_interface_descriptions)
    {
      joint_state_interfaces_.insert(std::make_pair(description.get_name(), description));
    }
  }

import_state_interface_descriptions(info_.joints);
import_state_interface_descriptions(info_.sensors);
import_state_interface_descriptions(info_.gpios);

This can be done once the #1688 is merged! :)