Documentation ERRORS

[AmmarAlbakri]

I was following the documentation: https://control.ros.org/master/doc/ros2_control/hardware_interface/doc/hardware_components_userdoc.html
for migrating the ros2_control hardware interface from foxy to galactic/humble, there are some typos and missing information in the documentation, I couldn't find where to submit this issue so I thought this is the best place.

Typos:

• In step 12. rclcpp_lifecyle should be rclcpp_lifecycle
  Missing steps:
• The read(); should be changed to read(const rclcpp::Time & time, const rclcpp::Duration & period);
• The write(); should be changed to write(const rclcpp::Time & time, const rclcpp::Duration & period);

[bmagyar]

Submit your suggestions here: https://github.com/ros-controls/ros2_control/blob/master/hardware_interface/doc/hardware_components_userdoc.rst