Add option to wait convergence of joint trajectory angle and velocity

[Taka-Kazu]

When controlling in joint trajectory mode, sometimes the joint's angle and velocity don't converge in the specified range after the duration (time_from_start). If the joint overshoots the target position in the trajectory, the joint rotates backward, but in some use cases, this behavior is not desirable.

By this PR, wait_convergence_of_joint_trajectory_angle_vel_ parameter is added. If this parameter is false, the control mode transitions to velocity mode without checking the convergence after the duration of time_from_start. If the parameter is true, the behavior is the same as before.

[at-wat]

[104] PASSED on noetic

All tests passed

build/test_results/ypspur_ros/roslint-ypspur_ros.xml: 1 tests
build/test_results/ypspur_ros/rostest-test_test_joint_trajectory.xml: 1 tests
build/test_results/ypspur_ros/rosunit-test_joint_trajectory.xml: 2 tests
Summary: 4 tests, 0 errors, 0 failures, 0 skipped

[at-wat]

LGTM