Use RobotModel joint limits and support acceleration (and maybe jerk) constraints

[sea-bass]

Add joint position, velocity and acceleration limits.

[kamiradi]

@sea-bass @sjahr I remember that you had shown way to get these limits from RobotModel. Can you comment with necessary links for the sake of documentation and implementation.

Current options include

• Reading it from the URDF/SRDF directly
• VariableBounds within robot_model::JointModel class

Any other option I may be missing, or correction in the existing?

[sea-bass]

You can extract them from the robot model as in here:

https://github.com/moveit/moveit2/blob/489d99617932a453057c03134e04e68092b8a189/moveit_ros/moveit_servo/src/servo.cpp#L484

https://github.com/moveit/moveit2/blob/489d99617932a453057c03134e04e68092b8a189/moveit_ros/moveit_servo/src/utils/common.cpp#L390