Fix double-free in Pilz unit tests (#3561)

Avoid double-free of KDL::RotationalInterpolation in KDL >= 1.4.1
The underlying memory leak was fixed in KDL with orocos/orocos_kinematics_dynamics#180

moveit_planners/pilz_industrial_motion_planner/src/path_circle_generator.cpp

@@ -65,6 +65,10 @@ std::unique_ptr<KDL::Path> PathCircleGenerator::circleFromCenter(const KDL::Fram
   }
   catch (KDL::Error_MotionPlanning&)
   {
+#if KDL_VERSION < ((1 << 16) | (4 << 8) | 1)  // older than 1.4.1 ?
+    delete rot_interpo;                       // in case we could not construct the Path object,
+                                              // avoid a memory leak
+#endif
     KDL::epsilon = old_kdl_epsilon;
     throw;  // and pass the exception on to the caller
   }
@@ -119,9 +123,24 @@ std::unique_ptr<KDL::Path> PathCircleGenerator::circleFromInterim(const KDL::Fra
   }
 
   KDL::RotationalInterpolation* rot_interpo = new KDL::RotationalInterpolation_SingleAxis();
-  return std::unique_ptr<KDL::Path>(
-      std::make_unique<KDL::Path_Circle>(start_pose, center_point, kdl_aux_point, goal_pose.M, alpha, rot_interpo,
-                                         eqradius, true /* take ownership of RotationalInterpolation */));
+  try
+  {
+    return std::unique_ptr<KDL::Path>(new KDL::Path_Circle(start_pose, center_point, kdl_aux_point, goal_pose.M, alpha,
+                                                           rot_interpo, eqradius,
+                                                           true /* take ownership of RotationalInterpolation */));
+  }
+  catch (KDL::Error_MotionPlanning&)  // LCOV_EXCL_START // The cases where
+                                      // KDL would throw are already handled
+                                      // above,
+                                      // we keep these lines to be safe
+  {
+#if KDL_VERSION < ((1 << 16) | (4 << 8) | 1)  // older than 1.4.1 ?
+    delete rot_interpo;                       // in case we could not construct the Path object,
+                                              // avoid a memory leak
+#endif
+    throw;  // and pass the exception on to the caller
+    // LCOV_EXCL_STOP
+  }
 }
 
 double PathCircleGenerator::cosines(const double a, const double b, const double c)