Add functionality to send MoveP and MoveC instructions to the robot

[urfeex]

This PR aims at supporting to send MoveP and MoveC commands to the robot directly through the TrajectoryPointInterface and the InstructionExecutor.

[codecov]

Codecov Report

Attention: Patch coverage is 98.47328% with 2 lines in your changes missing coverage. Please review.

Project coverage is 76.02%. Comparing base (1632f6d) to head (7f2ec52).
Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
src/control/trajectory_point_interface.cpp	97.80%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #303      +/-   ##
==========================================
- Coverage   76.05%   76.02%   -0.03%     
==========================================
  Files          87       87              
  Lines        3684     3738      +54     
  Branches      416      414       -2     
==========================================
+ Hits         2802     2842      +40     
- Misses        665      679      +14     
  Partials      217      217              

Flag	Coverage Δ
start_ursim	81.81% <ø> (-1.52%)	⬇️
ur20-latest	73.93% <98.47%> (+0.46%)	⬆️
ur5-3.14.3	74.49% <98.47%> (+0.36%)	⬆️
ur5e-10.7.0	68.63% <98.47%> (+0.45%)	⬆️
ur5e-5.9.4	74.35% <98.47%> (+0.33%)	⬆️

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[urmahp]

Overall it looks good, I only have a couple of small suggestions and comments.

[urmahp]

I guess this is kept for backwards compatibility, would it make sense to mark it as deprecated and then moving forward we want people to use writeMotionPrimitive?
Otherwise if we still want to keep writeTrajectoryPoint, then we should make it possible from the UrDriver to writeTrajectorypoints with moveC and MoveP as well, because currently it is only possible with MoveL and MoveJ.

[urfeex]

I don't necessarily see a reason to mark this deprecated, but I would also not see the necessity to add MoveC and MoveP to the UrDriver, as this is handled inside the InstructionExecutor.

Maybe this would be an argument to deprecated those...

[urfeex]

I will merge this after #307 and include the communication protocol changes in the migration notes.

[mathias31415]

Thank you for the integration of moveC! I just wanted to give quick feedback that I was able to use moveC via the instruction executer, both as a single command and within a motion sequence (with UR5e in URSim). I used it within my custom hardware interface: https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive/blob/main/ur_robot_driver/src/motion_primitives_ur_driver.cpp