Use files from demos for testing (backport #485) #487
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Use the demos directly instead of having different launch description, URDF, and executables for testing. (I just copied the content of the test_position executable to the example_position file in the demos).
I also added separate tests for the clock topic (sim_time), and if the expected controllers are loaded.
velocity and effort tests currently don't really test the system, because no feedback is processed. I'll do that in a new PR because it will change the demos itself.
This is an automatic backport of pull request #485 done by Mergify.