Adds multi (joint) state validation service (backport #3426)

[mergify[bot]]

Description

The normal state validation service is not very fast if you want to check a lot of joint states. This is significantly faster.

Requires https://github.com/moveit/moveit_msgs/pull/186

Please could this be backported to humble

Checklist

• [ ] Required by CI: Code is auto formatted using clang-format
• [ ] Extend the tutorials / documentation reference
• [ ] Document API changes relevant to the user in the MIGRATION.md notes
• [ ] Create tests, which fail without this PR reference
• [ ] Include a screenshot if changing a GUI
• [ ] While waiting for someone to review your request, please help review another open pull request to support the maintainers

---

This is an automatic backport of pull request #3426 done by [Mergify](https://mergify.com).

[mergify[bot]]

Cherry-pick of fb34bff593b81638c41cfe1ea567905b12b28fac has failed:

On branch mergify/bp/humble/pr-3426
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit fb34bff59.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   moveit_ros/move_group/default_capabilities_plugin_description.xml
	new file:   moveit_ros/move_group/src/default_capabilities/multi_state_validation_service_capability.cpp
	new file:   moveit_ros/move_group/src/default_capabilities/multi_state_validation_service_capability.hpp
	modified:   moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.h

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	both modified:   moveit_ros/move_group/CMakeLists.txt
	deleted by us:   moveit_ros/move_group/include/moveit/move_group/capability_names.hpp
	both modified:   moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[github-actions[bot]]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[codecov[bot]]

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 0.00%. Comparing base (3f2d7f5) to head (73beb74).

Additional details and impacted files

@@            Coverage Diff             @@
##           humble   #3495       +/-   ##
==========================================
- Coverage   50.95%       0   -50.94%     
==========================================
  Files         390       0      -390     
  Lines       32521       0    -32521     
==========================================
- Hits        16567       0    -16567     
+ Misses      15954       0    -15954     

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