Adapted rqt_jtc to newest control_msgs for jtc (backport #643)

[mergify]

This is an automatic backport of pull request #643 done by Mergify.

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[bmagyar]

I bumped into the same issue on humble today I think... @destogl how about you?

[christophfroehlich]

Maybe to add a note that RQT plugin is using only new topic because we want people using humble to transition to the new one

Originally posted by @destogl in #642 (comment)

What I understood is that humble was supposed to handle both, so we should not break RQT_JTC there. But now RQT_JTC is broken in rolling because in rolling there is only one topic accepted and one type of msg accepted.

Originally posted by @gwalck in #642 (comment)

Currently, using rqt_jtc with humble will work but JTC will output a warning because there is a subscriber to the old topic.
If we backport this, nothing will be broken and no warning will be given any more?

[destogl]

@christophfroehlich, should we reopen this?

[christophfroehlich]

@christophfroehlich, should we reopen this?

let's reopen this! @saikishor is working on a fix of rqt_jtc with continuous joints, with the backport we'll be able to backport future fixes too

[codecov]

Codecov Report

Merging #659 (f00c8ab) into humble (6ca4026) will increase coverage by 0.40%.
The diff coverage is n/a.

Additional details and impacted files

@@            Coverage Diff             @@
##           humble     #659      +/-   ##
==========================================
+ Coverage   44.81%   45.21%   +0.40%     
==========================================
  Files          40       40              
  Lines        3713     3713              
  Branches     1769     1769              
==========================================
+ Hits         1664     1679      +15     
+ Misses        835      820      -15     
  Partials     1214     1214              

Flag	Coverage Δ
unittests	45.21% <ø> (+0.40%)	⬆️

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see 2 files with indirect coverage changes