Merge controller into dev: bounded trajectories and shared seven-axis limits

Preserve dev TCP gizmo motion-priority handling while integrating Ruckig smoothing, continuous JTC spline validation and shared robot limits. Resolve launch and dependency conflicts without removing either feature set. Verified merged build of 8 packages and tests of 4 packages.

src/iiwa_bringup/launch/supported/webots_spawn.launch.py

@@ -30,6 +30,7 @@ def _spawn_setup(context, *args, **kwargs):
         xacro_args={
             "simulate": "true",
             "initial_positions_file": initial_positions_file,
+            "joint_limits_file": LaunchConfiguration("joint_limits_file").perform(context),
         },
     )