[moveit] Add config for trajectory execution and disable execution monitoring by default

With the scaled JTC execution time monitoring doesn't make much sense as
long as MoveIt is not aware of the trajectory scaling.

Author: Felix Exner

ur_moveit_config/config/moveit_controllers.yaml

@@ -1,6 +1,12 @@
 # MoveIt uses this configuration for controller management
 moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
 
+trajectory_execution:
+  allowed_execution_duration_scaling: 1.2
+  allowed_goal_duration_margin: 0.5
+  allowed_start_tolerance: 0.01
+  execution_duration_monitoring: false # Not much use when using the scaled JTC
+
 moveit_simple_controller_manager:
   controller_names:
     - scaled_joint_trajectory_controller