[JTC] Implement `velocity` and `effort` versions of JointTrajectoryController

[destogl]

#140 implements a generic JointTrajectoryController supporting joint, velocity, and acceleration interfaces and their combinations.

For the brevity of PR, pure velocity or effort controllers are not implemented. Their commands are generated using the desired state and state error using a velocity feedforward term plus a corrective PID term (see ROS1 implementation). Usage of this term can be controlled in the code by using using_closed_loop_hw_interface_adapter variable as mentioned here. This is just a proposal. Please feel free to change this at your convenience.