Support array-typed command and state interfaces with wrappers similar to semantic components

[bmagyar]

No changes required at the resource manager level

[destogl]

Please also consider this proposal: ros-controls/roadmap#45

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[github-actions]

This issue was closed because it has been stalled for 45 days with no activity.