Fix segfault at reconfigure of AdmittanceController (backport #1248)

[mergify]

This PR fixes #1181.

I tested it on iron and rebased it on rolling afterwards.

This PR simply avoid recreating the kinematics plugin, but just reinitializes it - which seems to work.

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This is an automatic backport of pull request #1248 done by [Mergify](https://mergify.com).

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 2 lines in your changes missing coverage. Please review.

Project coverage is 65.26%. Comparing base (3557ed0) to head (126ed15).
Report is 3 commits behind head on humble.

Files	Patch %	Lines
...ude/admittance_controller/admittance_rule_impl.hpp	0.00%	1 Missing and 1 partial ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##           humble    #1265       +/-   ##
===========================================
- Coverage   87.33%   65.26%   -22.07%     
===========================================
  Files          92      103       +11     
  Lines        8495    11433     +2938     
  Branches      709     7250     +6541     
===========================================
+ Hits         7419     7462       +43     
- Misses        811     1474      +663     
- Partials      265     2497     +2232     

Flag	Coverage Δ
unittests	65.26% <0.00%> (-22.07%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
...ude/admittance_controller/admittance_rule_impl.hpp	92.66% <0.00%> (-0.86%)	⬇️

... and 88 files with indirect coverage changes