Is your feature request related to a problem? Please describe.
We have been using ROS1 to generate moveit_configs for our ROS2 applications and lately have been running into the issue that the number of links in the scene has changed from when we first created it. To get around this we have been manually maintaining the SRDF but this is becoming tedious and I know that we are not disabling all of the options that the setup_assistant would normally apply.

I would like to have an engineer start porting collisions_updater.cpp so that it can be manually called to update the ACM that is stored in the robots SRDF file.

In ROS1 this was possible by running the command:
rosrun moveit_setup_assistant collisions_updater --urdf <urdf/xacro> --xacro-args <optional_xacro_args> --srdf <path_to_srdf> --trials 100000

I know that the ROS2 setup_assistant work is trying to get started and want to help contribute and get the tool ported. I would like to use this issues to discuss any requests or problems we might have while we migrate the program.

Describe the solution you'd like
I would like to port collisions_updater.cpp to ROS2 and have the option to call it from the command line as follows:
ros2 run moveit_setup_assistant collisions_updater --urdf <urdf/xacro> --xacro-args <optional_xacro_args> --srdf <path_to_srdf> --trials 100000