Support parallel_gripper_action_controller in Setup Assistant (#3752)

[nbbrooks]

• Support parallel_gripper_action_controller in Setup Assistant

moveit_resources migrated the gripper from position_controllers/ GripperActionController (Humble/Iron) to parallel_gripper_action_controller/ GripperActionController (Jazzy and newer). Both are single-joint GripperActionControllers that take a joint parameter.

Teach moveit_setup_controllers to recognize the new type:

• ros2_controllers_config: emit the joint (singular) parameter for either gripper controller type, instead of only the old one (the old check misclassified the new type and emitted a joints list).
• ros2_controllers: offer the new type in getAvailableTypes().
• test_controllers (ParsePanda): accept either gripper type so the test is distro-agnostic (the panda config now ships the Jazzy+ type).

• Address review: guard gripper joint index, add panda gripper output test

• ros2_controllers_config: only write the singular joint parameter when the gripper controller actually has a joint, so joints_[0] is never indexed out of bounds for a gripper with an empty joint list.
• test_controllers: add OutputPandaGripperUsesSingularJoint, which generates the panda ros2_controllers.yaml and asserts the GripperActionController is emitted with the singular joint key (not the joints list) -- coverage the gripper-less OutputFanuc test could not provide.

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Description

Please explain the changes you made, including a reference to the related issue if applicable

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[mergify]

Please target the main branch for development, we will backport the changes to jazzy for you if approved and if they don't break API.

[codecov]

Codecov Report

❌ Patch coverage is 76.92308% with 3 lines in your changes missing coverage. Please review.
✅ Project coverage is 46.25%. Comparing base (0a18b73) to head (31cb88e).

Files with missing lines	Patch %	Lines
...lude/moveit_setup_controllers/ros2_controllers.hpp	0.00%	2 Missing ⚠️
...moveit_setup_controllers/test/test_controllers.cpp	85.72%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           jazzy    #3773       +/-   ##
==========================================
+ Coverage   0.00%   46.25%   +46.25%     
==========================================
  Files        294      718      +424     
  Lines      28361    59184    +30823     
  Branches    3964     7598     +3634     
==========================================
+ Hits           0    27369    +27369     
- Misses     28361    31649     +3288     
- Partials       0      166      +166     

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