ros2_controllers [JTC] Process tolerances sent with action goal

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

Jul 24 '23 14:07 christophfroehlich

Codecov Report

Attention: 44 lines in your changes are missing coverage. Please review.

Comparison is base (9f7e9e9) 47.71% compared to head (534746c) 47.05%. Report is 6 commits behind head on master.

:exclamation: Current head 534746c differs from pull request most recent head 06400fa. Consider uploading reports for the commit 06400fa to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #716      +/-   ##
==========================================
- Coverage   47.71%   47.05%   -0.66%     
==========================================
  Files          41       41              
  Lines        3871     3925      +54     
  Branches     1833     1863      +30     
==========================================
  Hits         1847     1847              
- Misses        751      780      +29     
- Partials     1273     1298      +25

Flag	Coverage Δ
unittests	`47.05% <35.29%> (-0.66%)`	: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	`0.00% <ø> (-80.00%)`	:arrow_down:
...ory_controller/src/joint_trajectory_controller.cpp	`48.15% <25.00%> (+1.03%)`	:arrow_up:
...include/joint_trajectory_controller/tolerances.hpp	`45.26% <37.50%> (-9.74%)`	:arrow_down:

... and 3 files with indirect coverage changes