MoveItCpp multiple pipelines

[v4hn]

Backport from moveit2. See moveit/moveit2#1096 and moveit/moveit2#1114

[codecov]

Codecov Report

Merging #3131 (05f77a0) into master (0f66b99) will decrease coverage by 0.04%.
The diff coverage is 66.67%.

@@            Coverage Diff             @@
##           master    #3131      +/-   ##
==========================================
- Coverage   61.60%   61.57%   -0.03%     
==========================================
  Files         376      376              
  Lines       33309    33300       -9     
==========================================
- Hits        20518    20500      -18     
- Misses      12791    12800       +9     

Impacted Files	Coverage Δ
moveit_ros/planning/moveit_cpp/src/moveit_cpp.cpp	67.45% <66.67%> (-1.39%)	⬇️
.../ompl_interface/src/detail/constrained_sampler.cpp	43.91% <0.00%> (-17.07%)	⬇️
...on/pick_place/src/approach_and_translate_stage.cpp	75.16% <0.00%> (-0.60%)	⬇️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	77.91% <0.00%> (-0.37%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	66.35% <0.00%> (-0.12%)	⬇️

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[JafarAbdi]

@v4hn Should I squash merge this? Or do you prefer merge-commit?