Sync master into ros2 branch

[rhaschke]

No description provided.

[codecov]

Codecov Report

Patch coverage: 32.68% and project coverage change: -0.12% ⚠️

Comparison is base (45ff3ea) 41.80% compared to head (7892753) 41.67%.

Additional details and impacted files

@@            Coverage Diff             @@
##             ros2     #470      +/-   ##
==========================================
- Coverage   41.80%   41.67%   -0.12%     
==========================================
  Files          78       79       +1     
  Lines        7846     7939      +93     
==========================================
+ Hits         3279     3308      +29     
- Misses       4567     4631      +64     

Files Changed	Coverage Δ
core/include/moveit/task_constructor/container.h	50.00% <ø> (ø)
...oveit/task_constructor/solvers/planner_interface.h	100.00% <ø> (ø)
core/include/moveit/task_constructor/stage.h	91.67% <ø> (ø)
...it/task_constructor/stages/modify_planning_scene.h	90.00% <ø> (ø)
...e/include/moveit/task_constructor/stages/move_to.h	100.00% <ø> (ø)
core/include/moveit/task_constructor/storage.h	85.87% <ø> (ø)
core/src/marker_tools.cpp	0.00% <0.00%> (ø)
core/src/solvers/cartesian_path.cpp	83.73% <0.00%> (ø)
core/src/solvers/multi_planner.cpp	0.00% <0.00%> (ø)
core/src/solvers/pipeline_planner.cpp	0.00% <0.00%> (ø)
... and 13 more

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[rhaschke]

I'm surprised to see humble-source failing due to missing underscores in MotionPlanResponse members.
Isn't Humble the current active ROS2 release and thus should comprise the corresponding main branch changes from moveit/moveit2#1939?

[henningkayser]

@rhaschke thank you for working on this sync. At this point, ros2 doesn't support the MoveIt humble branch anymore. However, there is a moveit_task_constructor humble branch as well that should work (haven't tested lately). mtc:ros2 moveit2:main + ROS 2 Humle should still work, though.

[rhaschke]

@henningkayser, indeed, retriggering the builds it worked now. Don't know what the problem was before...