Add pinocchio plugin (backport #199)

[mergify]

@justagist is the original author, but we discussed to move it into this repo to get proper maintenance

justagist/kinematics_interface_pinocchio#11 (comment)

I fixed some issues to let the recently added templated tests from this repo.

---

This is an automatic backport of pull request #199 done by Mergify.

[mergify]

Cherry-pick of 42a8c9f has failed:

On branch mergify/bp/jazzy/pr-199
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit 42a8c9f.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   .github/workflows/rolling-semi-binary-build-win.yml
	modified:   README.md
	new file:   kinematics_interface_pinocchio/CHANGELOG.rst
	new file:   kinematics_interface_pinocchio/CMakeLists.txt
	new file:   kinematics_interface_pinocchio/include/kinematics_interface_pinocchio/kinematics_interface_pinocchio.hpp
	new file:   kinematics_interface_pinocchio/kinematics_interface_pinocchio.xml
	new file:   kinematics_interface_pinocchio/package.xml
	new file:   kinematics_interface_pinocchio/src/kinematics_interface_pinocchio.cpp
	new file:   kinematics_interface_pinocchio/test/test_kinematics_interface_pinocchio.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   kinematics_interface/include/kinematics_interface/kinematics_interface.hpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[codecov]

Codecov Report

❌ Patch coverage is 78.07487% with 41 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.22%. Comparing base (a11188c) to head (ad0b3f1).
⚠️ Report is 1 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
...e_pinocchio/src/kinematics_interface_pinocchio.cpp	77.59%	21 Missing and 20 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy     #225      +/-   ##
==========================================
- Coverage   88.93%   84.22%   -4.72%     
==========================================
  Files           5        7       +2     
  Lines         244      431     +187     
  Branches       38       70      +32     
==========================================
+ Hits          217      363     +146     
- Misses         15       36      +21     
- Partials       12       32      +20     

Flag	Coverage Δ
unittests	84.22% <78.07%> (-4.72%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...cchio/test/test_kinematics_interface_pinocchio.cpp	100.00% <100.00%> (ø)
...e_pinocchio/src/kinematics_interface_pinocchio.cpp	77.59% <77.59%> (ø)

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