remove base_frame and joints from VFC and JTAC parameters

[suchkristenwow]

This is the sister PR to: PickNikRobotics/moveit_pro#16385

All VFC and JTAC related base_frame and joints parameters have been removed. The remaining base_frame references are in unrelated configs (fuse/navigation).

Parent Issue: PickNikRobotics/moveit_pro#12608

[marioprats]

I think these would require a planning_group_name as a replacement
Unfortunately we don't have great CI in the example workspace. Only lab_sim is (kind of) covered.
The rest of configs need to be tested manually, at least to make sure they start.

[suchkristenwow]

With this configuration:
moveit_pro on 12608-remove-VFC-JTAC

with moveit_pro_example_ws on 12608-remove-VFC-JTAC-clean

Objective Testing (I ran these objectives, which all worked):
- tested on hangar sim: find and spray plane, ML move boxes to loading zone, teleop
- tested on lab_sim: move flasks to burners, push button with a trajectory, teleop
- tested on kitchen_sim: writing demo
- tested on kinova_sim: move along path

Then I unload the controller, reload, configure and activate for each config we changed (since configuration is when the controller resolves planning group name):

• kinova_sim: JTAC
• lab_sim: JTAC
• mock_sim: JTAC
• kitchen_sim: VFC
• dual_arm_sim: VFC (left + right)
  left_velocity_force_controller + right_velocity_force_controller

Ex:

if the controller is active
ros2 control set_controller_state joint_trajectory_admittance_controller inactive

ros2 control unload_controller joint_trajectory_admittance_controller

ros2 control load_controller joint_trajectory_admittance_controller

ros2 service call /controller_manager/configure_controller controller_manager_msgs/srv/ConfigureController "{name: 'joint_trajectory_admittance_controller'}"

ros2 control set_controller_state joint_trajectory_admittance_controller active
^Note: for the VFC tests, need to unload competing controllers first for this to work

Let me know if I can test something else on this PR :)

[marioprats]

I rebased and updated a couple of extra JTAC instances that we added yesterday. Tested and ready to go!

[marioprats]

Looks good, thanks!