JTC add more options for tolerance configuration

[Vedant87]

Closes #1180

Added new Parameters velocity_tolerance and acceleration_tolerance, to the Joint Trajectory Controller.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 84.79%. Comparing base (945a360) to head (0002fa1).
Report is 1 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1677      +/-   ##
==========================================
- Coverage   84.81%   84.79%   -0.03%     
==========================================
  Files         127      127              
  Lines       12114    12117       +3     
  Branches     1036     1036              
==========================================
  Hits        10275    10275              
- Misses       1501     1503       +2     
- Partials      338      339       +1     

Flag	Coverage Δ
unittests	84.79% <100.00%> (-0.03%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...jectory_controller/joint_trajectory_controller.hpp	100.00% <ø> (ø)
...ory_controller/src/joint_trajectory_controller.cpp	85.69% <100.00%> (+0.05%)	⬆️

... and 1 file with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.