Compare MoveIt! Jacobian against KDL

[marioprats]

Description

Adds the KDL Jacobian to the MoveIt Jacobian benchmark to have a baseline. As it is today, MoveIt! Jacobian is already ~2x faster than KDL.

------------------------------------------------------------
Benchmark                  Time             CPU   Iterations
------------------------------------------------------------
BM_MoveItJacobian        558 ns          558 ns      1251060
BM_KDLJacobian          1013 ns         1014 ns       686766

This change adds a dependency from robot_state to kdl_parser, but robot_core already depends on KDL, so I think this should be ok?

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

[sjahr]

Nice, thank you! I think the kdl_parser as test dependency should be fine 👍

[codecov]

Codecov Report

Patch coverage has no change and project coverage change: +0.01% 🎉

Comparison is base (94fea79) 50.74% compared to head (f97af83) 50.74%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2377      +/-   ##
==========================================
+ Coverage   50.74%   50.74%   +0.01%     
==========================================
  Files         386      386              
  Lines       31970    31970              
==========================================
+ Hits        16219    16220       +1     
+ Misses      15751    15750       -1     

see 1 file with indirect coverage changes

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.