Trajectory until node

[URJala]

Separate node for executing trajectories while also monitoring an until condition. Currently works with any motion controller, that uses the FollowJointTrajectory action, and the tool contact controller.

[URJala]

Depends on PR for the action definition.

[urfeex]

I think, if we could improve the docs a little bit, this would be good to go!

[urfeex]

I'll wait with merging this until ur_msgs 2.3.0 is merged into Rolling's rosdistro

[codecov]

Codecov Report

❌ Patch coverage is 12.38095% with 184 lines in your changes missing coverage. Please review.
✅ Project coverage is 16.39%. Comparing base (1b121b7) to head (88bbcb4).
⚠️ Report is 491 commits behind head on main.

Files with missing lines	Patch %	Lines
ur_robot_driver/src/trajectory_until_node.cpp	12.38%	184 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            main    #1461       +/-   ##
==========================================
+ Coverage   3.59%   16.39%   +12.80%     
==========================================
  Files         13       34       +21     
  Lines        947     3642     +2695     
  Branches     152      448      +296     
==========================================
+ Hits          34      597      +563     
- Misses       843     3027     +2184     
+ Partials      70       18       -52     

Flag	Coverage Δ
unittests	16.39% <12.38%> (+12.80%)	⬆️

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[urfeex]

Two CI jobs were failing with

- ur_robot_driver.RobotDriverTest test_trajectory_until_can_cancel[my_ur_, passthrough_trajectory_controller]
  <<< failure message
    Traceback (most recent call last):
      File "/root/target_ws/src/Universal_Robots_ROS2_Driver/ur_robot_driver/test/integration_test_trajectory_until.py", line 142, in test_trajectory_until_can_cancel
        self.assertTrue(
    AssertionError: False is not true
  >>>

which is similar to the flaky tests we already have in the sjtc_illegal_trajectory_test. Let's try to resolve that one before and potentially also fix this before merging that in.