Description

I think there's a regression in #310 that prevents the planning scene from tracking frames that are published to TF but aren't associated with links in the URDF.

Your environment

• Rolling
• Ubuntu 20.04
• Source build, main branch at 974a7a174.

Steps to reproduce

• ros2 launch run_move_group run_move_group.launch.py
• Create a node with a TF publisher and publish "world" to "test_frame".
• ros2 service call /get_planning_scene moveit_msgs/srv/GetPlanningScene '{}'

Expected behaviour

Planning scene should contain info about a transform from "world" to "test_frame".

Actual behaviour

After #310, the planning scene service response does not contain info about this transform. A practical result of this is that MoveIt Task Constructor's GeneratePose stages fail while finding IK solutions for named target poses published through TF.