Ports moveit1 #3689 (backport #3357)

[mergify]

Description

Ports moveit/moveit#3689, which avoids blocking the publishing of planning scenes during long operations, by copying planning scenes rather than locking the planning scene monitor.

Please backport to humble and jazzy when merged.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• 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

---

This is an automatic backport of pull request #3357 done by [Mergify](https://mergify.com).

[codecov-commenter]

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Codecov Report

Attention: Patch coverage is 0% with 21 lines in your changes missing coverage. Please review.

Project coverage is 44.41%. Comparing base (ce3720c) to head (e9a5bdf).
Report is 1 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
...nning_scene_monitor/src/planning_scene_monitor.cpp	0.00%	8 Missing ⚠️
...rc/default_capabilities/move_action_capability.cpp	0.00%	4 Missing ⚠️
..._motion_planner/src/move_group_sequence_action.cpp	0.00%	3 Missing ⚠️
...lude/moveit/plan_execution/plan_representation.hpp	0.00%	3 Missing ⚠️
...motion_planner/src/move_group_sequence_service.cpp	0.00%	2 Missing ⚠️
...ros/planning/moveit_cpp/src/planning_component.cpp	0.00%	1 Missing ⚠️

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Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #3365      +/-   ##
==========================================
+ Coverage   44.40%   44.41%   +0.01%     
==========================================
  Files         701      701              
  Lines       61866    61864       -2     
  Branches     7494     7494              
==========================================
+ Hits        27466    27469       +3     
+ Misses      34232    34227       -5     
  Partials      168      168              

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