andreas-botbuilt

### Description When using [OMPL constrained planning](https://github.com/ros-planning/moveit2/pull/347), there are cases where the OMPL planner creates a path that satisfies a position constraint according to OMPL but does not satisfy it...

Add service to store OMPL motion planner data

3

### Description Add a service, `/store_planner_data`, to the `move_group` node that stores the motion planner data produced by some OMPL planners, e.g., the roadmap graph generated by PRM. Fixes https://github.com/ros-planning/moveit/issues/2160....

TORA.jl takes into account the full-order system dynamics of a robot, i.e., it considers the mass/inertia parameters of every link throughout the kinematic chain of a robot. Currently, if a...