Make moveit_servo listen to Octomap updates (backport #2601)

[mergify]

This is an automatic backport of pull request #2601 done by Mergify.
Cherry-pick of 87d5945 has failed:

On branch mergify/bp/humble/pr-2601
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit 87d594540.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	deleted by us:   moveit_ros/moveit_servo/src/utils/common.cpp

no changes added to commit (use "git add" and/or "git commit -a")

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 51.32%. Comparing base (3144e6e) to head (eb279ca).
Report is 9 commits behind head on humble.

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #2606      +/-   ##
==========================================
+ Coverage   50.95%   51.32%   +0.38%     
==========================================
  Files         382      382              
  Lines       31894    31890       -4     
==========================================
+ Hits        16247    16363     +116     
+ Misses      15647    15527     -120     

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[amalnanavati]

Yup backporting to humble via cherry-picking will be pretty involved, since the servo code underwent a lot of restructuring. The one-line change that was applied in moveit_Servo/src/utils/common.cpp in main (code here) needs to instead be made in moveit_servo/src/servo_node.cpp in humble (code here). Also note that planning_scene_monitor in main needs to be changed to planning_scene_monitor_ in humble.

I'm happy to make the change, although I'm not sure about the norms re. fixing backports. Let me know if y'all have a preferred way of doing this!

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[amalnanavati]

@henningkayser can this be merged?

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[amalnanavati]

@henningkayser @sea-bass is there something we're waiting on for this PR to be merged?

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.