Use ros2 branch of moveit_task_constructor instead of humble

[lukas-jung]

Description

The humble branch has been removed.
See moveit/moveit_task_constructor#480

[sea-bass]

Thank you!

[sea-bass]

Ah, a few more updates are needed here due to renamed variables in MTC. I can take a look later if someone doesn't get to it first.

Source code changes needed

[rhaschke]

Looks like deleting the humble branch in MTC was a mistake. As the ros2 branch ran successfully with the docker image humble-source (moveit/moveit_task_constructor#470), I thought that the humble branch wouldn't be necessary anymore. However, it is for use with the MoveIt humble branch used for the image humble-release, which is used here.
@ros-planning/moveit-core-contributors, does any maintainer still have the humble branch locally to restore it?
This would avoid redoing the humble modifications...

[sea-bass]

@rhaschke I didn't have it locally, but I just pushed a slightly modified version of the ros2 branch to humble that compiles and runs for me against moveit2_tutorials. Please check it:

https://github.com/ros-planning/moveit_task_constructor/tree/humble

EDIT: Of course, if someone else does have the actual old version of the humble branch handy, feel free to change this.

[sea-bass]

NOTE: I found a separate issue in humble that requires this backport: #722

[rhaschke]

Thanks, @sea-bass. I did the same in parallel and also added a CI build for humble-release. Closing this PR as obsolete.

[lukas-jung]

@sea-bass @rhaschke

The commits of the original humble branch still exist:
293898690e323176c0f5c2fbe223affa53bde462

This is HEAD of my local copy. Cloned July 24.

It might be helpful for users if the new version is rebased to the old version so they can update it with git pull.

[rhaschke]

@lukas-jung, you should be able to fast-forward from the specified commit to the new humble branch: