Delete implementation of SJTC to use upstream implementation

[urfeex]

Since speed scaling is merged in the upstream JTC, we dont't need to keep our SJTC implementation around any longer. For backwards comaptibility we might want to keep it a little longer as the parameters aren't exactly the same.

This PR effectively reduces the SJTC implementation to a translation of the state interface name parameter. This way, we directly use the upstream JTC, also when having the SJTC running.

[codecov]

Codecov Report

❌ Patch coverage is 0% with 3 lines in your changes missing coverage. Please review.
✅ Project coverage is 5.37%. Comparing base (1b121b7) to head (d225111).
⚠️ Report is 479 commits behind head on main.

Files with missing lines	Patch %	Lines
...rollers/src/scaled_joint_trajectory_controller.cpp	0.00%	3 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff            @@
##            main   #1485      +/-   ##
========================================
+ Coverage   3.59%   5.37%   +1.78%     
========================================
  Files         13      33      +20     
  Lines        947    3239    +2292     
  Branches     152     391     +239     
========================================
+ Hits          34     174     +140     
- Misses       843    3063    +2220     
+ Partials      70       2      -68     

Flag	Coverage Δ
unittests	5.37% <0.00%> (+1.78%)	⬆️

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