Add motion_primitives_from_trajectory_controller with trajectory approximation using PTP/LIN primitives

[mathias31415]

This PR adds the motion_primitives_from_trajectory_controller. To make reviewing easier, another PR #1857 was created first to move shared functionality into a base controller.

This PR replaces PR #1837.

This PR is marked as a draft because PR #1636 and PR #1857 must be merged first.

This PR complements motion_primitives_forward_controller PR #1636 .
Instead of sending hardcoded motion primitives to the motion_primitives_forward_controller, this controller (motion_primitives_from_trajectory_controller) approximates a JointTrajectory using either PTP or LIN motion primitives.

This allows, for example, collision-free paths planned with MoveIt to be executed as motion primitives. The approximation is performed using the Ramer-Douglas-Peucker (RDP) algorithm:

• For PTP primitives in joint space
• For LIN primitives in Cartesian space

[mergify]

This pull request is in conflict. Could you fix it @mathias31415?

[codecov]

Codecov Report

❌ Patch coverage is 0% with 594 lines in your changes missing coverage. Please review.
✅ Project coverage is 81.73%. Comparing base (30473a5) to head (8fb3ba9).
⚠️ Report is 28 commits behind head on master.

Files with missing lines	Patch %	Lines
...c/motion_primitives_from_trajectory_controller.cpp	0.00%	309 Missing ⚠️
...ves_controllers/src/approx_primitives_with_rdp.cpp	0.00%	159 Missing ⚠️
motion_primitives_controllers/src/rdp.cpp	0.00%	92 Missing ⚠️
motion_primitives_controllers/src/fk_client.cpp	0.00%	20 Missing ⚠️
...s/motion_primitives_from_trajectory_controller.hpp	0.00%	14 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1858      +/-   ##
==========================================
- Coverage   85.25%   81.73%   -3.52%     
==========================================
  Files         143      148       +5     
  Lines       13794    14388     +594     
  Branches     1194     1279      +85     
==========================================
  Hits        11760    11760              
- Misses       1636     2230     +594     
  Partials      398      398              

Flag	Coverage Δ
unittests	81.73% <0.00%> (-3.52%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...s/motion_primitives_from_trajectory_controller.hpp	0.00% <0.00%> (ø)
motion_primitives_controllers/src/fk_client.cpp	0.00% <0.00%> (ø)
motion_primitives_controllers/src/rdp.cpp	0.00% <0.00%> (ø)
...ves_controllers/src/approx_primitives_with_rdp.cpp	0.00% <0.00%> (ø)
...c/motion_primitives_from_trajectory_controller.cpp	0.00% <0.00%> (ø)

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