Planning Scene Monitor should use relaible QoS with >1 history

[ANogin]

Description

As discussed in #3174 (comment), updated the PlanningSceneMonitor::startSceneMonitor to use reliable QoS with history depth=10. This is necessary e.g. when used in Rviz plugin and updating the state of attached objects - those kinds of messages are only sent once and missing it results in things being badly out of sync. After implementing it , it looks like another issue I was having where /apply_planning_scene requests were not always reliably taking effect might have been also fixed by this.

Checklist

• Required by CI: Code is auto formatted using clang-format
• [N/A] Extend the tutorials / documentation reference
• [N/A] Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• [N/A] Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov-commenter]

⚠️ Please install the to ensure uploads and comments are reliably processed by Codecov.

Codecov Report

Attention: Patch coverage is 0% with 3 lines in your changes missing coverage. Please review.

Project coverage is 45.64%. Comparing base (e7872eb) to head (ce604c4).
Report is 26 commits behind head on main.

Files with missing lines	Patch %	Lines
...nning_scene_monitor/src/planning_scene_monitor.cpp	0.00%	3 Missing ⚠️

❗ Your organization needs to install the Codecov GitHub app to enable full functionality.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3257      +/-   ##
==========================================
- Coverage   46.00%   45.64%   -0.36%     
==========================================
  Files         483      714     +231     
  Lines       40632    62300   +21668     
  Branches        0     7530    +7530     
==========================================
+ Hits        18689    28430    +9741     
- Misses      21943    33703   +11760     
- Partials        0      167     +167     

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[rr-mark]

This might explain (and fix) a number of problems we've been seeing on our ros2 build. I'll test this later.

[rhaschke]

According to the docs, the default profile for publishers/subscribers already matches the desired settings.
Hence, it should be sufficient to use that profile instead of rclcpp::SystemDefaultsQoS():

- scene_topic, rclcpp::SystemDefaultsQoS(), [this](const moveit_msgs::msg::PlanningScene::ConstSharedPtr& scene) {
+ scene_topic, rmw_qos_profile_default, [this](const moveit_msgs::msg::PlanningScene::ConstSharedPtr& scene) {

[rhaschke]

Actually, rclcpp::SystemDefaultsQoS() should not be used anywhere in the code. Instead, the profiles predefined for specific use cases should be used.

[ANogin]

No clue how things are supposed to work, but what I saw reported by ros2 topic info was that the subscription was "Reliability: BEST_EFFORT" with queue size of 1. That said, I am a novice in ROS2, so if there is an easier way to specify the desired QoS, I do not know.