Sequential multi-pose planning in PlannerServer

[zaynabahmad]

The planner now returns one combined trajectory for all goals instead of executing each one.
It also returns the total time and some basic info about the plan

[elsayedelsheikh]

Note: I've removed unnecessary files, rebased to the latest main branch.

Please pull the current updates and rebuild the environment before moving forward

P.S: This is my workspace structure

grab2_ws
   ├── build
   ├── install
   ├── log
   └── src
         ├── BehaviorTree.ROS2
         ├── grab2
         └── topic_based_ros2_control

[elsayedelsheikh]

Couple of notes:

• You need to fix the linter issues.
• The package builds on Humble but fails on other distros. MoveIt2’s API changed, so you need to use

#if RCLCPP_VERSION_GTE(28, 0, 0)
  // Jazzy and later
#else
  // Humble
#endif

[elsayedelsheikh]

@zaynabahmad I've resolved the conflicts
Please check if there's anything else you need to modify