Misc. cleanups

[zultron]

List of low-prio cleanups

hal_hw_interface.launch

• Remove HalConfig and let actions choose their own triggering HalReady events with e.g. wait_ready=<hal_name>
  • This removes the need for groups
  • If wait_ready=[<hal_name1>, <hal_name2>] were possible, HAL component loading could run in parallel
• Along with the above, turn HalMgr launch action into a regular HalOrderedAction
• Along with the above, migrate hal_hw_interface.hal_mgr directly into the hal_hw_interface.launch.hal_mgr action (maybe)