Add velocity and acceleration scaling when using custom limits in Time Parameterization

[mechwiz]

Description

In an effort to use dynamic joint velocity, acceleration, or jerk limits it was mentioned by @henningkayser in my moveit_msgs PR here moveit/moveit_msgs#144 (comment) that scaling should be applied regardless if using default limits or custom limits. This PR creates the necessary changes to accomplish this.
@AndyZe

EDIT

This PR also adds another overloaded computeTimeStamps function for passing in a vector of JointLimit messages. I found this to be easier to work with in my implementation for integrating dynamic joint limits.

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

Base: 50.46% // Head: 50.39% // Decreases project coverage by -0.06% ⚠️

Coverage data is based on head (b5d774e) compared to base (fd48413).
Patch coverage: 36.96% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1832      +/-   ##
==========================================
- Coverage   50.46%   50.39%   -0.06%     
==========================================
  Files         374      374              
  Lines       31335    31363      +28     
==========================================
- Hits        15809    15803       -6     
- Misses      15526    15560      +34     

Impacted Files	Coverage Δ
...ry_processing/time_optimal_trajectory_generation.h	100.00% <ø> (ø)
...veit/trajectory_processing/time_parameterization.h	100.00% <ø> (ø)
...rajectory_processing/src/ruckig_traj_smoothing.cpp	85.15% <12.50%> (-6.43%)	⬇️
...cessing/src/time_optimal_trajectory_generation.cpp	86.59% <50.00%> (-0.79%)	⬇️
moveit_ros/moveit_servo/src/servo_calcs.cpp	65.97% <0.00%> (-1.45%)	⬇️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	78.79% <0.00%> (-1.13%)	⬇️
moveit_ros/moveit_servo/src/pose_tracking.cpp	77.11% <0.00%> (-0.46%)	⬇️

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[sjahr]

Thanks for these changes! I think this looks good in general. Just out of curiosity, is your work with the Hybrid Planner and dynamic joint limits open source?

[mechwiz]

Thanks for these changes! I think this looks good in general. Just out of curiosity, is your work with the Hybrid Planner and dynamic joint limits open source?

Yep! I have it all available on my forks. I have implemented the changes across MoveIt, MTC, and moveit_msgs with some help from @AndyZe. It's just a matter of creating modular PRs to the relevant repos to get it all integrated.

[AndyZe]

Thanks for the PR @mechwiz !