Parallel gripper controller (backport #3246)

[mergify]

Description

This PR closes #3017 and adds the option to control grippers that use the ros2_control ParallelGripperCommand interface. I renamed all of the existing gripper controller files to include the name gripper_command and created new files for the parallel_gripper_command_controller.

To setup add the following to your moveit_controllers.yaml

right_arm_gripper_controller:
  type: ParallelGripperCommand
  joints:
     - right_arm_gripper_joint
  action_ns: gripper_cmd
  allow_stalling: true # optional if you want to pick grasp objects of unknown size and want the request to succeed when the gripper stalls while grasping the object
  max_effort: 1.0 # optional, max effort of the joint allowed while moving (Newtons or Newton-meters)
  max_velocity: 0.5 # optional, max velocity of the joint allowed while moving (radians or meters / second)
  default: true

When you start MoveIt you should see the following when adding the controllers

[move_group-4] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added ParallelGripperCommand controller for right_arm_gripper_controller

---

This is an automatic backport of pull request #3246 done by [Mergify](https://mergify.com).

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Codecov Report

Attention: Patch coverage is 9.47368% with 86 lines in your changes missing coverage. Please review.

Project coverage is 44.13%. Comparing base (157683b) to head (11f03f6).
Report is 1 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
...ger/parallel_gripper_command_controller_handle.hpp	0.00%	56 Missing ⚠️
...r_manager/src/moveit_simple_controller_manager.cpp	32.00%	17 Missing ⚠️
...src/parallel_gripper_command_controller_plugin.cpp	0.00%	5 Missing ⚠️
...ller_manager/gripper_command_controller_handle.hpp	16.67%	5 Missing ⚠️
...nterface/src/gripper_command_controller_plugin.cpp	0.00%	3 Missing ⚠️

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Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #3260      +/-   ##
==========================================
- Coverage   44.15%   44.13%   -0.02%     
==========================================
  Files         698      700       +2     
  Lines       61589    61663      +74     
  Branches     7459     7471      +12     
==========================================
+ Hits        27187    27206      +19     
- Misses      34234    34289      +55     
  Partials      168      168              

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