Ports #3676 and #3682 from ros1 moveit

[rr-mark]

Description

Ports moveit/moveit#3676 and moveit/moveit#3682

Could this be back-ported to humble when merged

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

[rhaschke]

At first sight this looks reasonable.

[codecov-commenter]

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Codecov Report

Attention: Patch coverage is 88.57143% with 4 lines in your changes missing coverage. Please review.

Project coverage is 45.66%. Comparing base (415a4a2) to head (cf538ca).
Report is 7 commits behind head on main.

Files with missing lines	Patch %	Lines
...nning_scene_monitor/src/planning_scene_monitor.cpp	83.34%	4 Missing ⚠️

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Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3247      +/-   ##
==========================================
+ Coverage   45.65%   45.66%   +0.01%     
==========================================
  Files         714      714              
  Lines       62298    62287      -11     
  Branches     7532     7531       -1     
==========================================
- Hits        28437    28436       -1     
+ Misses      33695    33684      -11     
- Partials      166      167       +1     

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[rr-mark]

@rhaschke @v4hn This should now be ready to review, when you have time.

[rr-mark]

Closed in favour of #3283