Icaros/r0jointignore

[herambnemlekar]

Ignore fixed (welded) joints in Conversions.cpp to prevent it from throwing errors when controlling the fingers of the real robot.

The pull request was tested by running the simple_trajectories in libada on the real robot (Jaco arm, version=2, dof=6) and in simulation.

---

Before creating a pull request

• [x] Document new methods and classes
• [x] Format code with make format

Before merging a pull request

• [x] Set version target by selecting a milestone on the right side
• [x] Summarize this change in CHANGELOG.md
• [ ] Add unit test(s) for this change

[codecov[bot]]

Codecov Report

Merging #623 (6d10fd7) into master (ce7dd79) will decrease coverage by 0.02%. The diff coverage is 72.72%.

:exclamation: Current head 6d10fd7 differs from pull request most recent head 1c6512a. Consider uploading reports for the commit 1c6512a to get more accurate results

@@            Coverage Diff             @@
##           master     #623      +/-   ##
==========================================
- Coverage   73.08%   73.05%   -0.03%     
==========================================
  Files         219      219              
  Lines        7865     7872       +7     
==========================================
+ Hits         5748     5751       +3     
- Misses       2117     2121       +4     

Impacted Files	Coverage Δ
src/control/ros/Conversions.cpp	80.08% <72.72%> (-0.71%)	:arrow_down:
src/planner/ompl/CRRT.cpp	72.95% <0.00%> (-0.52%)	:arrow_down: