Ports moveit/moveit/pull/3519 to ros2 (backport #3055) #7674

Job	Run time
iron-ci + ccov	1h 0m 48s
iron-ci + ccov	1h 3m 0s
iron-ci-testing + ikfast + clang-tidy (delta)	16m 10s
iron-ci-testing + ikfast + clang-tidy (delta)	15m 48s
	2h 35m 46s

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