Fix angular distance calculation in floating joint model (backport #2538)

[mergify]

This is an automatic backport of pull request #2538 done by Mergify.
Cherry-pick of 83ff55a has failed:

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	both modified:   moveit_core/robot_model/src/floating_joint_model.cpp
	both modified:   moveit_core/robot_trajectory/test/test_robot_trajectory.cpp

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (3144e6e) 50.95% compared to head (84d76b0) 50.90%.

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #2543      +/-   ##
==========================================
- Coverage   50.95%   50.90%   -0.04%     
==========================================
  Files         382      382              
  Lines       31894    31889       -5     
==========================================
- Hits        16247    16231      -16     
- Misses      15647    15658      +11     

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