Regression of 93c3f63
Closes: moveit#2804

This was a workaround for catkin/catkin_tools#594,
which is no longer needed because python3-catkin-tools 0.7 added the required dependency.

Because std::make_pair uses the decayed type (std::string), the strings were actually copied into a temporary, which was subsequently referenced by the elements of std::pair, leading to a stack-use-after-scope error.
Explicitly passing const references into std::make_pair via std::cref() resolves the issue mentioned in #2809.

We need to pass the current PlanningScene down to the actual collision checking methods

…2821)

* fix getting wrong type ID

* update unit test

…t#2833)

If the MP plugin was created in a non-rviz context (e.g. directly via librviz),
there might be no window manager and thus no parent widget available for panels.

This commit makes the trajectory visualization topic relative. This was
done to make sure that it respects the namespaces that are set in
launch files.

Co-authored-by: Felix von Drigalski <FvDrigalski@gmail.com>
Co-authored-by: Michael Görner <me@v4hn.de>

- Remove convertToRobotTrajectory() and integrate its line of code into setSuccessResponse()
- Pass the final start_state into setSuccessResponse()

Co-authored-by: Cristian Beltran <cristianbehe@gmail.com>
Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>