Update dependencies

[taiki-e]

Closes #104

Blocked on:

• urdf-rs: release v0.6; Release v0.6.0 urdf-rs#12
• k: update urdf-rs to 0.6; Update urdf-rs to 0.6 k#29
• k: release v0.22; Release v0.22.0 k#31
• urdf-viz: update dependencies; Update dependencies urdf-viz#36
• urdf-viz: release v0.23; Release v0.23.0 urdf-viz#41
• ros-nalgebra: update nalgebra to v0.24; Update nalgebra to 0.24 ros-nalgebra#2
• ros-nalgebra: release v0.0.4; Release v0.0.4 ros-nalgebra#3

[codecov]

Codecov Report

Merging #121 (37bfd0d) into main (85c1cae) will increase coverage by 1.25%.
The diff coverage is 60.00%.

@@            Coverage Diff             @@
##             main     #121      +/-   ##
==========================================
+ Coverage   19.10%   20.35%   +1.25%     
==========================================
  Files          71       71              
  Lines        3947     3949       +2     
  Branches      883      883              
==========================================
+ Hits          754      804      +50     
+ Misses       2916     2861      -55     
- Partials      277      284       +7     

Impacted Files	Coverage Δ
openrr-planner/src/collision/urdf.rs	42.85% <0.00%> (-2.15%)	⬇️
openrr-planner/src/lib.rs	100.00% <ø> (ø)
openrr-planner/src/planner/ik_planner.rs	0.00% <ø> (ø)
openrr-client/src/clients/ik_client.rs	33.69% <100.00%> (+24.45%)	⬆️
openrr-planner/src/ik.rs	78.68% <100.00%> (+22.95%)	⬆️
arci-urdf-viz/src/client.rs	56.39% <0.00%> (-4.66%)	⬇️
arci-urdf-viz/src/utils.rs	57.14% <0.00%> (-4.29%)	⬇️
openrr-planner/src/funcs.rs	39.75% <0.00%> (+2.40%)	⬆️

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