[JTC] Parse URDF for continuous joints

[christophfroehlich]

Use urdf package to parse the URDF string for joints. If they are of continuous type, activate angle_wraparound automatically.

Fixes #815

[codecov]

Codecov Report

Attention: 27 lines in your changes are missing coverage. Please review.

Comparison is base (9f7e9e9) 47.71% compared to head (725bedb) 71.56%.
Report is 24 commits behind head on master.

Additional details and impacted files

@@             Coverage Diff             @@
##           master     #949       +/-   ##
===========================================
+ Coverage   47.71%   71.56%   +23.85%     
===========================================
  Files          41       41               
  Lines        3871     3651      -220     
  Branches     1833     1794       -39     
===========================================
+ Hits         1847     2613      +766     
+ Misses        751      718       -33     
+ Partials     1273      320      -953     

Flag	Coverage Δ
unittests	71.56% <66.25%> (+23.85%)	⬆️

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

Files	Coverage Δ
...de/diff_drive_controller/diff_drive_controller.hpp	100.00% <ø> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	68.63% <100.00%> (+20.57%)	⬆️
...jectory_controller/joint_trajectory_controller.hpp	100.00% <ø> (+20.00%)	⬆️
...include/joint_trajectory_controller/trajectory.hpp	73.33% <ø> (+23.33%)	⬆️
...nclude/tricycle_controller/tricycle_controller.hpp	100.00% <ø> (ø)
...roadcaster/src/force_torque_sensor_broadcaster.cpp	82.53% <75.00%> (+21.93%)	⬆️
joint_trajectory_controller/src/trajectory.cpp	89.67% <77.77%> (+22.10%)	⬆️
...ory_controller/src/joint_trajectory_controller.cpp	79.52% <62.06%> (+32.41%)	⬆️
tricycle_controller/src/tricycle_controller.cpp	60.58% <60.60%> (+27.93%)	⬆️

... and 28 files with indirect coverage changes

[mergify]

This pull request is in conflict. Could you fix it @christophfroehlich?

[mergify]

This pull request is in conflict. Could you fix it @christophfroehlich?

[mergify]

This pull request is in conflict. Could you fix it @christophfroehlich?

[bmagyar]

Very clean! Great work