[Ruckig traj smoothing] Add a test, termination condition bugfix

[AndyZe]

Description

Previously I didn't understand the difference between ruckig::Finished and ruckig::Working so I focused only on ruckig::Finished. There's not much documentation but here it is: https://github.com/pantor/ruckig/blob/master/include/ruckig/result.hpp

This corrects that error and adds a comment. A new test is also added.

[codecov]

Codecov Report

Base: 61.93% // Head: 61.83% // Decreases project coverage by -0.10% ⚠️

Coverage data is based on head (aff395c) compared to base (a7684e7).
Patch coverage: 32.15% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #3348      +/-   ##
==========================================
- Coverage   61.93%   61.83%   -0.10%     
==========================================
  Files         380      380              
  Lines       33593    33592       -1     
==========================================
- Hits        20804    20768      -36     
- Misses      12789    12824      +35     

Impacted Files	Coverage Δ
...rajectory_processing/src/ruckig_traj_smoothing.cpp	64.09% <32.15%> (-27.26%)	⬇️
...g_scene_interface/src/planning_scene_interface.cpp	51.10% <0.00%> (-1.09%)	⬇️
...ove_group_interface/src/wrap_python_move_group.cpp	46.91% <0.00%> (-0.09%)	⬇️
...moveit/move_group_interface/move_group_interface.h	36.85% <0.00%> (ø)
...nning_scene_monitor/src/planning_scene_monitor.cpp	66.47% <0.00%> (+0.13%)	⬆️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	78.28% <0.00%> (+0.38%)	⬆️
...on/pick_place/src/approach_and_translate_stage.cpp	75.76% <0.00%> (+0.61%)	⬆️
moveit_core/robot_state/src/robot_state.cpp	51.89% <0.00%> (+0.63%)	⬆️
...ipulation/pick_place/src/manipulation_pipeline.cpp	74.39% <0.00%> (+2.48%)	⬆️
... and 1 more

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[henningkayser]

Just some minor questions from my end. The performance improvement seems apparent, but I don't really follow why it exists

[AndyZe]

I grabbed some plots to verify this doesn't do anything crazy. Seems good from what I can tell. Not quite optimal because of the iterative nature of multiple waypoints, but close to it.

J1, vel limit=2.18 rad/s, accel limit=3.75 rad/s^2, jerk limit=100

J3, vel limit=2.18, accel limit=2.5, jerk limit=100