Add resources_lock_ lock_guards to avoid race condition when loading robot_description through topic (backport #1451)

[mergify[bot]]

As reported in #1442, loading the robot_description through the topic will cause a segmentation fault or some undefined behaviors as the read and write methods real-time methods are continuously executed, and when the robot description is received and the resource_manager is to be initialized, there is no lock_guard of recursive mutex resources_lock_, which should avoid the RM to execute the components when they are changing state or being loaded and initialized

Fixes #1442

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This is an automatic backport of pull request #1451 done by Mergify.

[mergify[bot]]

Cherry-pick of 25f2c97eb909c48b96384c7cff7f7f36be8ca509 has failed:

On branch mergify/bp/iron/pr-1451
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    both modified:   hardware_interface/src/resource_manager.cpp

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