RobotState::getRigidlyConnectedParentLinkModel and subframes: PRs not ported from moveit1. #3279
Description
RobotState::getRigidlyConnectedParentLinkModel fails when the frame is a subframe.
In moveit1, this is fixed by a6f8bb9 331381a 593a119 and 4a3a312.
It is not straightforward to patch these across, as Moveit2 has 1f23344 and f20265a.
Should 1f23344 and f20265a be reverted, and the four PRs from Moveit1 be patched across? Or are 1f23344 and f20265a still relevant after those four PRs? And if so, should they be backported to Moveit1?