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

[mergify]

Description

Ports moveit/moveit#3519 to ROS2. This may partially fix #2857 for the LIN planner

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference (Backend pilz changes only)
• Document API changes relevant to the user in the MIGRATION.md notes (Backend pilz changes only)
• Create tests, which fail without this PR reference (Modified existing tests to use modified code)
• Include a screenshot if changing a GUI (No GUI changes)
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

---

This is an automatic backport of pull request #3055 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of 70e1aae has failed:

On branch mergify/bp/humble/pr-3055
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit 70e1aae8b.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_functions.h
	modified:   moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator.h
	modified:   moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_circ.h
	modified:   moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_lin.h
	modified:   moveit_planners/pilz_industrial_motion_planner/src/trajectory_blender_transition_window.cpp
	modified:   moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_circ.cpp
	modified:   moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_lin.cpp
	modified:   moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_ptp.cpp
	modified:   moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_functions.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_base.h
	both modified:   moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
	both modified:   moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator.cpp
	both modified:   moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_circ.cpp
	both modified:   moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_lin.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[rr-tom-noble]

@sjahr Would it be alright to merge this PR into humble?