[JTC] Process tolerances sent with action goal (backport #716)

[mergify[bot]]

From here:

JointTrajectoryController ignores goal_time_tolerance set via FollowJointTrajectory.Goal.goal_time_tolerance together with path_tolerance and goal_tolerance .

This PR proposes a way how to process the tolerances: The tolerances from one action goal are not saved for the next one, but the default ones will be used if no tolerances are set with the following action goals.

(Temporary) deactivation is also implemented like documented in the msg definition.

From the node parameter we cannot set velocity or acceleration tolerances (except for a single stopped_velocity_tolerance for the goal tolerances of all joints). Should we add them as parameters as well, to have the same structure like the action message?

This new feature could break some existing projects, because the tolerances were just ignored and might now be breaking behaviors. Should we introduce a temporary parameter to opt-in?

Fixes #249

---

This is an automatic backport of pull request #716 done by Mergify.

[mergify[bot]]

Cherry-pick of 07061f96f21fd4436a1f48b29e74beb21be8709a has failed:

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Changes to be committed:
	modified:   joint_trajectory_controller/CMakeLists.txt
	modified:   joint_trajectory_controller/doc/userdoc.rst
	modified:   joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
	modified:   joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
	modified:   joint_trajectory_controller/src/joint_trajectory_controller.cpp
	new file:   joint_trajectory_controller/test/test_tolerances.cpp
	modified:   joint_trajectory_controller/test/test_trajectory_actions.cpp
	modified:   joint_trajectory_controller/test/test_trajectory_controller_utils.hpp

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	deleted by us:   doc/migration/Jazzy.rst
	deleted by us:   doc/release_notes/Jazzy.rst

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[codecov[bot]]

Codecov Report

Attention: Patch coverage is 88.67925% with 48 lines in your changes missing coverage. Please review.

Project coverage is 86.74%. Comparing base (0766dac) to head (29888d8).

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #1189      +/-   ##
==========================================
- Coverage   86.98%   86.74%   -0.25%     
==========================================
  Files          86       87       +1     
  Lines        7490     7904     +414     
  Branches      617      628      +11     
==========================================
+ Hits         6515     6856     +341     
- Misses        743      805      +62     
- Partials      232      243      +11     

Flag	Coverage Δ
unittests	86.74% <88.67%> (-0.25%)	:arrow_down:

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
...jectory_controller/joint_trajectory_controller.hpp	100.00% <ø> (ø)
...int_trajectory_controller/test/test_tolerances.cpp	100.00% <100.00%> (ø)
...ectory_controller/test/test_trajectory_actions.cpp	97.75% <100.00%> (+0.47%)	:arrow_up:
...ory_controller/src/joint_trajectory_controller.cpp	84.03% <93.75%> (+0.05%)	:arrow_up:
...ntroller/test/test_trajectory_controller_utils.hpp	84.59% <23.07%> (-6.06%)	:arrow_down:
...include/joint_trajectory_controller/tolerances.hpp	69.90% <63.01%> (-17.20%)	:arrow_down:

... and 2 files with indirect coverage changes

[christophfroehlich]

I fixed the merge conflict with the release notes, and removed all entries which are not applicable to this branch.

[christophfroehlich]

Needs https://github.com/ros-controls/ros2_control/pull/1613 for Humble Check Docks job.