[JTC] Backport recent changes

[christophfroehlich]

This PR includes backports of PRs for JTC (with fixed merge conflicts) in the correct order.
Besides updates to the tests and docs, this includes

• [JTC] Explicitly set hold position #558 + [JTC] Remove start_with_holding option #839 + [JTC] Continue with last trajectory-point on success #842
• [JTC] Tolerance tests + Hold on time violation #613
• [JTC] Add time-out for trajectory interfaces #609
• [JTC] Make most parameters read-only #771
• a part of (only the variable renamings) [JTC] Remove deprecation warnings, set allow_nonzero_velocity_at_trajectory_end default false #834
• [JTC] Activate update of dynamic parameters #761 + [JTC] Fix dynamic reconfigure of tolerances #849
• [JTC] Remove unused home pose #845

We decided backporting #558 (including its fixes) during a recent WG meeting. The others are optional but should not break anything (but avoid conflicts for future backports).

This PR should not be squashed maybe, but ff-merged on top of humble?! I could also make separate backport PRs, but this will take some time as they are depending on each other and are bugfixing earlier commits.

[padhupradheep]

Hey Folks,

Would be really helpful if we get this backport.. Does this need a review or something that I might probably help with?

Need this one #558 specifically..

[christophfroehlich]

Hey Folks,

Would be really helpful if we get this backport.. Does this need a review or something that I might probably help with?

Need this one #558 specifically..

Reviews always help :) Feel free to clone the branch, test it with your setup, and leave your approval here!

[padhupradheep]

tested out #558 already.. I'm satisfied with the behavior. Will try to test the others too when I get some time.

Thanks @christophfroehlich

[codecov]

Codecov Report

❗ No coverage uploaded for pull request base (humble@53ec31b). Click here to learn what that means.
The diff coverage is n/a.

❗ Current head 493990d differs from pull request most recent head 41304df. Consider uploading reports for the commit 41304df to get more accurate results

Additional details and impacted files

@@            Coverage Diff            @@
##             humble     #801   +/-   ##
=========================================
  Coverage          ?   44.79%           
=========================================
  Files             ?       40           
  Lines             ?     3710           
  Branches          ?     1766           
=========================================
  Hits              ?     1662           
  Misses            ?      836           
  Partials          ?     1212           

Flag	Coverage Δ
unittests	44.79% <0.00%> (?)

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

[bmagyar]

This is big... Put it out of draft mode as if we leave it there it will never be merged

[bmagyar]

Heads up @fmauch @RobertWilbrandt

Just pushed a release to Humble without these changes. This will be included in the next release. Good news is that we do not intend to make any substantial changes to the JTC in Humble in the future.