When planning an arm motion, Pilz's PTP planner shouldn't complain (and bail out)
on missing joint limits of hand joints!

Just complain about negative / zero values.

Otherwise, on a failure, the implicitly used success() will skip the step.

Gazebo requires a fixed joint from world to the first robot link.
This resembles the virtual_joint of SRDF.
However, the RobotModel parser issues the following warning:
Skipping virtual joint 'xxx' because its child frame 'xxx' does not match the URDF frame 'world'

Fixes the following error (occurring since 61d18f2)
```
[FATAL] ros.moveit_ros_planning.trajectory_execution_manager:
  Exception while loading controller manager 'robot':
  According to the loaded plugin descriptions the class robot
  with base class type moveit_controller_manager::MoveItControllerManager does not exist.
```

As we introduced `pass_all_args="true"`, the value of the argument
`moveit_controller_manager` was the robot name.

There are 3 basic MoveIt controller manager plugins:
- fake = `moveit_fake_controller_manager::MoveItFakeControllerManager`
  Used in demo.launch. Doesn't really control the robot, but just
  interpolates between via points. Allows these execution_types:
  - via points: just jumps to the via points
  - interpolate: linearly interpolates between via points (default)
  - last point: jumps to the final trajectory point (used for fast execution testing)

- ros_control = `moveit_ros_control_interface::MoveItControllerManager`
  Interfaces to ros_control controllers.

- simple = `moveit_simple_controller_manager/MoveItSimpleControllerManager`
  Interfaces to action servers for `FollowJointTrajectory` and/or `GripperCommand`
  that in turn interface to the low-level robot controllers (typically based on ros_control)

However, so far move_group.launch distinguished between `fake` and `robot` only.
The argument moveit_controller_manager now allows switching between all 3 variants.
Adding more *_moveit_controller_manager.launch files allows for an extension of this scheme.

- Reading both, the default and the existing package's sensors_3d.yaml
  into the config, the config file was growing by 2 configs each time.
- Not visiting the Perception tab, was writing the default config with 2 entries
- Selecting "None" was writing an invalid config:
  sensors:
    - {}
    - {}

We should write separate controller config files for different controller managers:
- simple_moveit_controllers.yaml handles everything relevant for SimpleMoveItControllerManager
- ros_controllers.yaml handles ros_control config
- gazebo_controllers.yaml handles controllers required for Gazebo

- Provide all types of JointTrajectoryController as well as
  FollowJointTrajectory and GripperCommand (use by simple manager)
- Use effort_controllers/JointTrajectoryController as default
- Create FollowJointTrajectory entries for any JointTrajectoryController

This will facilitate re-use of demo.launch.

Adaption of moveit/moveit#3106

Signed-off-by: Tyler Weaver <tylerjw@gmail.com>

Signed-off-by: Gaël Écorchard <gael.ecorchard@cvut.cz>

…eit#1218)

Co-authored-by: Jafar <cafer.abdi@gmail.com>

Co-authored-by: jeoseo <jeongwooseo2012@gmail.com>

…ion algorithm (moveit#1195)

* A new function for common time-param calculations

* Flesh out the second computeTimeStamps function

* Reading of the custom limits

* Add a unit test

* Revert comment changes about exceptions

* Small efficiency improvements

* Add computeTimeStamps() overload to the base class

Co-authored-by: Jafar <cafer.abdi@gmail.com>

…1221)

* Move common functionality to utility functions
* Add a utility function to read RobotModel bounds
* Add a unit test for the new version of computeTimeStamps()
* Clean up Doxygen
* Use ruckig::DynamicDOFs everywhere

Co-authored-by: AndyZe <zelenak@picknik.ai>