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[JTC] Backport recent changes#801

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bmagyar merged 22 commits intoros-controls:humbleros-controls/ros2_controllers:humblefrom christophfroehlich:jtc/backportchristophfroehlich/ros2_controllers:jtc/backportCopy head branch name to clipboardDec 6, 2023

+1,709-939

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Commits on Dec 5, 2023

• [Doc] Fix links (backport ros-controls#715)

  christophfroehlich

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• [JTC] Explicitly set hold position (backport ros-controls#558)

  christophfroehlich

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• [JTC] Tolerance tests + Hold on time violation (backport ros-controls#613)

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  christophfroehlich

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• [JTC] Make most parameters read-only (backport ros-controls#771)

  christophfroehlich

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• [JTC] Add note on goal_time=0 in docs (backport ros-controls#773)

  christophfroehlich

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• [JTC] Fix hold position mode with goal_time>0 (backport ros-controls#758)

  christophfroehlich

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• [JTC] Add time-out for trajectory interfaces (backport ros-controls#609)

  christophfroehlich

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• [Docs] Improve interface description of JTC (backport ros-controls#770)

  christophfroehlich

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• [JTC] Add tests for acceleration command interface (backport ros-controls#752)

  christophfroehlich

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• Cleanup comments and unnecessary checks (backport ros-controls#803)

  christophfroehlich

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• [JTC] Fix typos, implicit cast, const member functions (backport ros-controls#748)

  christophfroehlich

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• Update requirements of state interfaces (backport ros-controls#798)

  christophfroehlich

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• Rename wraparound class variables (backport ros-controls#834)

  christophfroehlich

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• [JTC] Fix tests when state offset is used (backport ros-controls#797)

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• [JTC] Activate update of dynamic parameters (backport ros-controls#761)

  christophfroehlich

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• [JTC] Remove unused home pose (backport ros-controls#845)

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• [JTC] Fix dynamic reconfigure of tolerances (backport ros-controls#849)

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• [JTC] Improve update methods for tests (backport ros-controls#858)

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• [JTC] Activate checks for parameter validation backport (ros-controls#857)

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• [JTC] Remove start_with_holding option (backport ros-controls#839)

  christophfroehlich

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• [JTC] Continue with last trajectory-point on success (backport ros-controls#842)

  christophfroehlich

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• Fix floating point comparison in JTC (backport ros-controls#879)

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