Add allowed_start_tolerance_joints parameter (Port moveit#3287) (backport #3309)

[mergify]

Description

Allow to specify a per joint allowed start tolerance for the TrajectoryExecutionManager. Port from moveit/moveit#3287 with some changes to be able to dynamically update its values at runtime.

Example of usage

In moveit_controllers.yaml:

trajectory_execution:
  allowed_execution_duration_scaling: 1.2
  allowed_goal_duration_margin: 0.5
  allowed_start_tolerance: 0.01
  allowed_start_tolerance_joints: {panda_joint3: 0.02, panda_joint5: 0.03, panda_finger_joint1: 0.005}

Joints that are not declared in allowed_start_tolerance_joints will use allowed_start_tolerance as the default.

Some remarks

• I would personally have named this parameter "allowed_start_tolerance_joints" to be next to "allowed_start_tolerance" when sorted alphabetically. However, to maintain continuity with the original PR, I kept it as is.
• I left the tests as they are because test_execution_manager.cpp is not used at the moment, right?
• Why skip negative tolerances? I think, rather than defaulting to allowed_start_tolerance, it would be more intuitive to use the absolute value in that case.

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

---

This is an automatic backport of pull request #3309 done by [Mergify](https://mergify.com).

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Codecov Report

Attention: Patch coverage is 19.60784% with 41 lines in your changes missing coverage. Please review.

Project coverage is 44.14%. Comparing base (ddfab7d) to head (9b298ef).
Report is 1 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
...ution_manager/src/trajectory_execution_manager.cpp	19.61%	41 Missing ⚠️

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Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #3328      +/-   ##
==========================================
- Coverage   44.15%   44.14%   -0.00%     
==========================================
  Files         700      700              
  Lines       61683    61727      +44     
  Branches     7477     7487      +10     
==========================================
+ Hits        27229    27246      +17     
- Misses      34286    34313      +27     
  Partials      168      168              

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