Enable allowed_execution_duration_scaling and allowed_goal_duration_margin for each controller (backport #3335)

[mergify]

Description

Re-enabling the functionality to set allowed_execution_duration_scaling and allowed_goal_duration_margin for each controller, which has been commented out since moveit2 was created.

Example of usage

In moveit_controllers.yaml:

trajectory_execution:
  allowed_execution_duration_scaling: 1.2 # Default global value for all controllers
  allowed_goal_duration_margin: 0.5 # Default global value for all controllers

...

moveit_simple_controller_manager:
  controller_names:
    - panda_arm_controller

  panda_arm_controller:
    type: FollowJointTrajectory
    allowed_execution_duration_scaling: 5.0 # Overrides the global value for this controller
    allowed_goal_duration_margin: 1.0 # Overrides the global value for this controller
    ...

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

---

This is an automatic backport of pull request #3335 done by [Mergify](https://mergify.com).

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Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 51.41%. Comparing base (acdf211) to head (03e6885).
Report is 1 commits behind head on humble.

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Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #3337      +/-   ##
==========================================
+ Coverage   51.41%   51.41%   +0.01%     
==========================================
  Files         382      382              
  Lines       31892    31892              
==========================================
+ Hits        16393    16395       +2     
+ Misses      15499    15497       -2     

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