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

Attention: Patch coverage is 84.61538% with 2 lines in your changes missing coverage. Please review.

Project coverage is 44.14%. Comparing base (969db71) to head (e9f24ea).
Report is 1 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
...ution_manager/src/trajectory_execution_manager.cpp	84.62%	2 Missing ⚠️

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Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #3338      +/-   ##
==========================================
+ Coverage   44.13%   44.14%   +0.02%     
==========================================
  Files         700      700              
  Lines       61728    61740      +12     
  Branches     7486     7490       +4     
==========================================
+ Hits        27236    27249      +13     
+ Misses      34325    34323       -2     
- Partials      167      168       +1     

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