Make new palm flesh the default palm for Hands E and G (lite)

[rnzenha-s]

Proposed changes

Make new hand versions (with new palm flesh) the default versions for Hands E and G (lite), respectively, versions E4 and G4.
Also, renaming node error_reporter node to underactuation_error_reporter for clarity purposes and ensuring parameters robot_description and robot_description_semantics are discoverable before starting the node.

Update: This PR also now introduces fixes to some of our ROS tests (specifically, those invoking the method move_group.compute_cartesian_path() ), so that they now conform with the latest API changes to moveit_commander:
moveit/moveit#3618
Specifically, the argument jump_threshold has now been deprecated, and, therefore, had to be removed

Checklist

Before posting a PR ensure that from each of the below categories AT LEAST ONE BOX HAS BEEN CHECKED. If more than one category is applicable then more can be checked. Also ensure that the proposed changes have been filled out with relevant information for reviewers.

Tests

• No tests required to be added. (For small changes that will be tested by CI/CD infrastructure).
• Added/Modified automated and PhantomHand CI tests (if a new class is added (Python or C++), the interface of that class must be unit tested).
• Manually tested in simulation (if simulation specific or no hardware required to test the functionality).
• Manually tested on hardware (if hardware specific or related).

Documentation

• No documentation required to be added.
• Added documentation (For any new feature, explain what it does and how to use it. Write the documentation in a relevant space, e.g. Github, Confluence, etc).
• Updated documentation (For changes to pre-existing features mentioned in the documentation).

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 40.19%. Comparing base (bce86fb) to head (684a456).
Report is 1 commits behind head on noetic-devel.

Additional details and impacted files

@@              Coverage Diff              @@
##           noetic-devel     #844   +/-   ##
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  Coverage         40.19%   40.19%           
=============================================
  Files                13       13           
  Lines              1555     1555           
  Branches            637      637           
=============================================
  Hits                625      625           
  Misses              647      647           
  Partials            283      283           

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