Jazzy/feat/col objs

[satokeeen]

Added Features

Added interfaces for manipulating the MoveIt Planning Scene.

Implemented Functions

• Interface for enabling/disabling collision checking

  • string[] collision_ids
  • bool allow

• Interface for adding CollisionObjects associated with TF frames to the Planning Scene

  • string[] tf_frame_ids
  • moveit_msgs/CollisionObject[] collision_objects

• Added an interface for managing CollisionObjects in the Planning Scene

  • Supports adding and updating CollisionObjects

Purpose

• Enable dynamic generation and management of CollisionObjects in MoveIt
• Allow switching collision checking on/off for specific objects
• Enable TF-based Planning Scene updates synchronized with the real environment