Adjusted the logic of the twist command of moveit_servo

[Demonmasterlqx]

Description

1. A point with a constant speed of 0 was added at the end of the trajectory to ensure safety
2. Added the end_effector_frame parameter to moveit_servo and updated the Servo::toPlanningFrame(const TwistCommand& command, const std::string& planning_frame) function. The original code did not correctly implement the logic for apply_twist_commands_about_ee_frame. In the modified logic, if end_effector_frame is set and apply_twist_commands_about_ee_frame is true, the translational transformation is from command.frame to planning_frame, and the rotational transformation is from ee_frame to planning_frame.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[Demonmasterlqx]

@hihry @nbbrooks

Is there anything need to be down or any suggestion?