Improve API/lifecycle docs (backport #2081)

[mergify]

The doxygen docstring of the interfaces classes was broken (see here).

• I fixed the syntax
• Removed wrong (never implemented) behavior description
• Added a lifecycle section in the sphinx docs

---

This is an automatic backport of pull request #2081 done by [Mergify](https://mergify.com).

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 62.67%. Comparing base (dff1474) to head (4e12e54).
Report is 3 commits behind head on humble.

Additional details and impacted files

@@           Coverage Diff           @@
##           humble    #2085   +/-   ##
=======================================
  Coverage   62.67%   62.67%           
=======================================
  Files         109      109           
  Lines       12641    12641           
  Branches     8583     8583           
=======================================
  Hits         7923     7923           
  Misses        902      902           
  Partials     3816     3816           

Flag	Coverage Δ
unittests	62.67% <ø> (ø)

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Files with missing lines	Coverage Δ
.../include/hardware_interface/actuator_interface.hpp	100.00% <ø> (ø)
...ce/include/hardware_interface/sensor_interface.hpp	100.00% <ø> (ø)
...ce/include/hardware_interface/system_interface.hpp	100.00% <ø> (ø)