Port moveit ros control interface to ROS2

[JafarAbdi]

Description

• Port moveit_ros_control_interface to ROS2
• trajectory_execution_manager: Multiple bug fixes

Currently setting moveit_manage_controllers to True will not work since controller_manager doesn't report joints names for the inactive controllers

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

[codecov]

Codecov Report

Merging #545 (19addb4) into main (9f709a8) will decrease coverage by 0.02%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             main     #545      +/-   ##
==========================================
- Coverage   54.30%   54.28%   -0.01%     
==========================================
  Files         191      191              
  Lines       20084    20084              
==========================================
- Hits        10904    10900       -4     
- Misses       9180     9184       +4     

Impacted Files	Coverage Δ
...nning_scene_monitor/src/planning_scene_monitor.cpp	44.92% <0.00%> (-0.50%)	⬇️

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[AndyZe]

Is there a high-level overview of the difference between these packages somewhere? Frankly, they all sound the same:

• moveit_ros_control_interface: "ros_control controller manager interface for MoveIt"
• moveit_controller_manager: I see that this is COLCON-ignored, probably will be deleted.
• moveit_simple_controller_manager: "A generic, simple controller manager plugin for MoveIt."

It seems like moveit_ros_control_interface and moveit_simple_controller_manager should be combined into one package.

I see that moveit_ros_control_interface depends on moveit_simple_controller_manager

I won't block the PR over this comment, but it should be considered in the future.

[AndyZe]

I also think a bit of specific documentation about what these packages do would be great. Do they switch controllers when a different move group is used, or ...?

A tutorial would be great.

[henningkayser]

testing this right now...