[JTC] Add more options for tolerance configuration

[christophfroehlich]

From the node parameter we cannot set velocity or acceleration tolerances (except for a single stopped_velocity_tolerance for the goal tolerances of all joints). Should we add them as parameters as well, to have the same structure like the action message?

This would be nice to have in the follow-up PR.

Originally posted by @destogl in #716 (review)