Feature/make use of max cartesian speed in MotionPlanRequest with pilz planner

[AimanHaidar]

Description

This pull request make use of the max_cartesian_speed field in the MotionPlanRequest because I noticed it is not useful for the Pilz planner.

Currently, the planner always uses the value from pilz_cartesian_limits.yaml (loaded to planner_limits_) and does not make use of the max_cartesian_speed specified in the request. Moreover, setting these limits dynamically with

ros2 param set /move_group <param>

does not update the planner behavior as expected.

This PR introduces a small change to apply the max_cartesian_speed value from the request item when planning the trajectory, instead of always relying on the static configuration from planner_limits_.

As a result, users can now specify Cartesian speed limit directly in their MotionPlanRequest, and seems to be related to moveit issues issue1 and issue2.

I don't know if my way of coding is good for the planner, since I didn't make use of cartesian_speed_limited_link field

---

Example

Below is an example of a sequence request containing three planning items, each with different max_cartesian_speed values applied correctly after this PR:

note: speed inversly proportional to points density

---

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

[AimanHaidar]

I will close this because it is now included in #3610