Trajectory until node (backport #1461)

[mergify]

Separate node for executing trajectories while also monitoring an until condition. Currently works with any motion controller, that uses the FollowJointTrajectory action, and the tool contact controller.

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This is an automatic backport of pull request #1461 done by Mergify.

[mergify]

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Changes to be committed:
	new file:   ur_robot_driver/doc/trajectory_until_node.rst
	new file:   ur_robot_driver/examples/move_until_example.py
	new file:   ur_robot_driver/include/ur_robot_driver/trajectory_until_node.hpp
	modified:   ur_robot_driver/launch/ur_control.launch.py
	new file:   ur_robot_driver/src/trajectory_until_node.cpp
	new file:   ur_robot_driver/test/integration_test_trajectory_until.py
	modified:   ur_robot_driver/test/test_common.py

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   ur_robot_driver/CMakeLists.txt
	both modified:   ur_robot_driver/doc/index.rst

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally