* Ports moveit #3676 and #3682 (#3283)

* Use separate callback queue + spinner for ExecuteTrajectoryAction (#3676)

This allows parallel execution + planning.

Also required modifying updateSceneWithCurrentState() to allow skipping a scene update with a new robot state (from CurrentStateMonitor), if the planning scene is currently locked (due to planning).
Otherwise, the CurrentStateMonitor would block too.

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>

* PSM: simplify state_update_pending_ (#3682)

* Move update of state_update_pending_ to updateSceneWithCurrentState()

* Revert to try_lock

While there are a few other locks except explicit user locks (getPlanningSceneServiceCallback(), collisionObjectCallback(), attachObjectCallback(), newPlanningSceneCallback(), and scenePublishingThread()), these occur rather seldom
(scenePublishingThread() publishes at 2Hz).

Hence, we might indeed balance a non-blocking CSM vs. missed PS updates in favour of CSM.

* Don't block for scene update from stateUpdateTimerCallback too

The timer callback and CSM's state update callbacks are served from the same callback queue, which would block CSM again.

* further locking adaptations

reading dt_state_update_ and last_robot_state_update_wall_time_
does not lead to logic errors, but at most to a skipped or redundant update on corrupted data.
Alternatively we could be on the safe side and turn both variables into std::atomic, but that
would effectively mean locks on every read.

Instead, only set state_update_pending_ as an atomic, which is lockfree in this case.

Co-authored-by: Michael Görner <me@v4hn.de>

* Ports changes to ROS2.

---------

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
Co-authored-by: Michael Görner <me@v4hn.de>
Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
(cherry picked from commit ba35aaa)

# Conflicts:
#	moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.cpp
#	moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.hpp
#	moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp

* Resolves merge conflicts. (#3322)

* Resolves merge conflicts.

* Undoes erroneous auto-format.

* Undoes erroneous auto-format.

---------

Co-authored-by: Mark Johnson <104826595+rr-mark@users.noreply.github.com>