add publisher for command/stateinterces in resource manager

[mamueluth]

Outpur looks like this:

---
header:
  stamp:
    sec: 1703260532
    nanosec: 809262835
  frame_id: ''
states:
  interface_names:
  - joint1/position
  - joint2/position
  values:
  - -0.1591718527588563
  - -0.1591718527588563
commands:
  interface_names:
  - joint1/position
  - joint2/position
  values:
  - 0.0
  - 0.0
---
header:
  stamp:
    sec: 1703260532
    nanosec: 909183632
  frame_id: ''
states:
  interface_names:
  - joint1/position
  - joint2/position
  values:
  - -0.15758013423126774
  - -0.15758013423126774
commands:
  interface_names:
  - joint1/position
  - joint2/position
  values:
  - 0.0
  - 0.0
---