Joint Trajectory Controller tolerances

[domire8]

Describe the bug
PR #716 introduces the concept of active tolerances to the Joint Trajectory Controller, in order to respect the tolerances sent with the action goal. From that point on, the tolerances that were used on the update step of the controller were taken from a RealtimeBuffer. There seems to be just one place where this change wasn't propagated and where the live tolerances are being used.

To Reproduce
Steps to reproduce the behavior:

1. Go to

   ros2_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp

   Line 258 in c703235

   auto active_tol = active_tolerances_.readFromRT();

   
   This is where the active tolerances for the current update step are read.
2. Scroll down to

   ros2_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp

   Line 303 in c703235

   state_error_, index, default_tolerances_.goal_state_tolerance[index],

   
   This is where the live default_tolerances_ are still being used, even though all other checks around this use active_tol

Expected behavior
I would expect this to be

              check_state_tolerance_per_joint(
                state_error_, index, active_tol->goal_state_tolerance[index],
                true /* show_errors */);

Otherwise, it would technically be possible to change the goal state tolerances while the trajectory is being executed, something that the controller is trying to avoid in the current implementation.

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.