Adding the chosen node (the one in the graph that was chosen by the planner as the final node) as a return value of the planner service.
Unifying the name of the PreGrasp control mode along different HAs (the name is now PreGrasp. Before it was either PreGrasp (WallGrasp) or Pregrasp (SurfaceGrasp))
Removing some semicolons from the code... someone really prefers C-style syntax ;)
This PR is a prerequisite for merging https://github.com/SoMa-Project/soma_utils/pull/129
It does the following things: