Rolling/Jazzy updates

[JafarAbdi]

• [RM] Add get_hardware_info method to the Hardware Components ros-controls/ros2_control#1643
• Component parser: Get mimic information from URDF ros-controls/ros2_control#1256

[aptitudex]

Hey! Are these 2 PRs reflected yet in this repo? Planning to loop this in on a Jazzy project and wondering if this is something we'll have to look out for