Description

Allow to specify a per joint allowed start tolerance for the TrajectoryExecutionManager. Port from moveit/moveit#3287 with some changes to be able to dynamically update its values at runtime.

Example of usage

In moveit_controllers.yaml:

trajectory_execution:
  allowed_execution_duration_scaling: 1.2
  allowed_goal_duration_margin: 0.5
  allowed_start_tolerance: 0.01
  allowed_start_tolerance_joints: {panda_joint3: 0.02, panda_joint5: 0.03, panda_finger_joint1: 0.005}

Joints that are not declared in allowed_start_tolerance_joints will use allowed_start_tolerance as the default.

Some remarks

• I would personally have named this parameter "allowed_start_tolerance_joints" to be next to "allowed_start_tolerance" when sorted alphabetically. However, to maintain continuity with the original PR, I kept it as is.
• I left the tests as they are because test_execution_manager.cpp is not used at the moment, right?
• Why skip negative tolerances? I think, rather than defaulting to allowed_start_tolerance, it would be more intuitive to use the absolute value in that case.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
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