PSM: keep references to scene_ valid upon receiving full scenes

moveit / moveit2

:robot: MoveIt for ROS 2

https://moveit.ai/

BSD 3-Clause "New" or "Revised" License

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Open rhaschke opened 1 month ago

rhaschke commented 1 month ago

This is a backport of #2745 from main to humble. The original PR was a port from MoveIt1.

rhaschke commented 1 month ago

Looks like the test you ported, @sjahr, doesn't yet work. It complains about missing KDLKinematicsPlugin.