Fix Cartesian interpolation

[rhaschke]

This is a follow-up on #2916, fixing a bug reported in moveit/moveit#3651.

[sea-bass]

The build failure on Rolling here looks quite strange... also seemingly unrelated to this PR. Could this be a build caching thing?

[rhaschke]

The build failure on Rolling here looks quite strange... also seemingly unrelated to this PR. Could this be a build caching thing?

I had similar issues in #3003, which were fixed by deleting the upstream cache. However, here, the caches were not found anyway. So, I'm not yet sure why this fails for one rolling build but not the other.
It's definitely unrelated to the PR.

Edit: The issue also occurs on the main branch and in other PRs - since #3024 was merged: https://github.com/moveit/moveit2/actions/runs/11313105568/job/31461458873

I'm looking into possible reasons.

[rhaschke]

libsrdfdom doesn't link against tinyxml2:

ldd /opt/ros/rolling/lib/libsrdfdom.so.2.0.4
	linux-vdso.so.1 (0x00007ffd7d343000)
	libconsole_bridge.so.1.0 => /lib/x86_64-linux-gnu/libconsole_bridge.so.1.0 (0x000071a3689a5000)
	libstdc++.so.6 => /lib/x86_64-linux-gnu/libstdc++.so.6 (0x000071a368728000)
	libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x000071a3686fb000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x000071a3684e9000)
	libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x000071a368400000)

Probably this wasn't noticed before, because the plugins (removed in #3024) pulled in this dependency.

[rhaschke]

I have no idea why this PR still fails (for an unrelated reason), while the main branch works again.
srdfdom/model.h should be missing in both or none case.

Edit: The reason is that srdfdom is still broken. The includes are not found anymore.
The problem didn't show up on the main branch, because that was still accessing headers in /opt/ros.
The docker source build fails: https://github.com/moveit/moveit2/actions/runs/11317019415

Edit: I think I fixed srdfdom: moveit/srdfdom@65ce909