Fix: Ignore first trajectory point in passthrough traj controller if time is 0

[urfeex]

Currently, when the first trajectory point has a time of 0, this raises an error on the robot, as the spline segment would have the length 0.

Some planners do add such a point with the current joint positions at the beginning. An easy fix to handle this is to ignore the first point in that case.

Note: Currently, this contains a commit to configure moveit and the driver to use the passthrough controller by default to easily test this. This will be reverted before this is marked as ready.

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 15 lines in your changes missing coverage. Please review.

Project coverage is 5.09%. Comparing base (1b121b7) to head (363f275).
Report is 466 commits behind head on main.

Files with missing lines	Patch %	Lines
...trollers/src/passthrough_trajectory_controller.cpp	0.00%	15 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff            @@
##            main   #1438      +/-   ##
========================================
+ Coverage   3.59%   5.09%   +1.50%     
========================================
  Files         13      33      +20     
  Lines        947    3418    +2471     
  Branches     152     430     +278     
========================================
+ Hits          34     174     +140     
- Misses       843    3242    +2399     
+ Partials      70       2      -68     

Flag	Coverage Δ
unittests	5.09% <0.00%> (+1.50%)	⬆️

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[urfeex]

Nevermind. We handle this in URScript. This popping up was only due to my test setup where I mock 5 of the 6 joints.