Fix Ruckig termination condition

[AndyZe]

Description

Previously I didn't understand the difference between ruckig::Finished and ruckig::Working so I focused only on ruckig::Finished. There's not much documentation but here it is: https://github.com/pantor/ruckig/blob/master/include/ruckig/result.hpp

This corrects that error and adds a comment. Fixes #1960

This should significantly speed up Ruckig-smoothed trajectories. I'm seeing speedups in the range of 50% although it depends on the specific robot configuration.

Fixes #1960. It is a port of this MoveIt1 PR: moveit/moveit#3348

@swiz23 @mechwiz @nbbrooks

Plots. The performance is close to optimal but not quite optimal. This makes sense because the iterative process for multiple waypoints involves extending durations in 10% increments -- so it could be up to 10% non-optimal.

J1, vel limit=2.18 rad/s, accel limit=3.75 rad/s^2, jerk limit=100

J3, vel limit=2.18, accel limit=2.5, jerk limit=100

[codecov]

Codecov Report

Patch coverage: 31.04% and project coverage change: -0.14 ⚠️

Comparison is base (c27cb30) 50.31% compared to head (5ac13f4) 50.16%.

❗ Current head 5ac13f4 differs from pull request most recent head 572014b. Consider uploading reports for the commit 572014b to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1963      +/-   ##
==========================================
- Coverage   50.31%   50.16%   -0.14%     
==========================================
  Files         374      374              
  Lines       31358    31354       -4     
==========================================
- Hits        15774    15726      -48     
- Misses      15584    15628      +44     

Impacted Files	Coverage Δ
...rajectory_processing/src/ruckig_traj_smoothing.cpp	59.60% <31.04%> (-25.55%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	45.26% <0.00%> (-0.43%)	⬇️
...e/collision_detection_fcl/src/collision_common.cpp	73.76% <0.00%> (-0.22%)	⬇️
moveit_core/robot_state/src/robot_state.cpp	48.57% <0.00%> (+0.62%)	⬆️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	79.17% <0.00%> (+1.14%)	⬆️

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[swiz23]

Can you link to the issue that this is fixing?

[AndyZe]

@swiz23 I got rid of runRuckigInBatches() for now so this should definitely fix #1960. I'll put some plots in the description now, too.

[mergify]

⚠️ The sha of the head commit of this PR conflicts with #1990. Mergify cannot evaluate rules on this PR. ⚠️