Adding use of robot description parameter in the Admittance Controller (backport #1247)

[mergify]

Replaces #1094.

Adds propagation of robot_description through argument to the kinematics_interface.

---

This is an automatic backport of pull request #1247 done by Mergify.

[mergify]

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Changes to be committed:
	modified:   admittance_controller/include/admittance_controller/admittance_rule.hpp
	modified:   admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
	modified:   admittance_controller/src/admittance_controller.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   admittance_controller/test/test_admittance_controller.hpp

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[christophfroehlich]

I'm not sure why the robot_description parameter is not passed to the kinematics interface in the tests.

[bmagyar]

I'd advocate for the approach in #1359 . Can make that change in rosdistro too

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 65.08%. Comparing base (9b6aa99) to head (3dd2090).
Report is 2 commits behind head on iron.

Additional details and impacted files

@@            Coverage Diff             @@
##             iron    #1354      +/-   ##
==========================================
- Coverage   65.09%   65.08%   -0.01%     
==========================================
  Files         107      107              
  Lines       12184    12184              
  Branches     7494     7495       +1     
==========================================
- Hits         7931     7930       -1     
- Misses       1534     1540       +6     
+ Partials     2719     2714       -5     

Flag	Coverage Δ
unittests	65.08% <100.00%> (-0.01%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
.../include/admittance_controller/admittance_rule.hpp	100.00% <ø> (ø)
...ude/admittance_controller/admittance_rule_impl.hpp	92.34% <100.00%> (ø)
...dmittance_controller/src/admittance_controller.cpp	73.96% <100.00%> (+0.47%)	⬆️
...nce_controller/test/test_admittance_controller.hpp	93.12% <100.00%> (-0.04%)	⬇️

... and 2 files with indirect coverage changes

[christophfroehlich]

semi-binary builds are fine now!