[ros2]: Sync with master branch

[JafarAbdi]

No description provided.

[codecov]

Codecov Report

Merging #322 (8e8e25d) into ros2 (98ced78) will increase coverage by 1.77%.
The diff coverage is 80.00%.

@@            Coverage Diff             @@
##             ros2     #322      +/-   ##
==========================================
+ Coverage   39.07%   40.83%   +1.77%     
==========================================
  Files          78       78              
  Lines        7332     7336       +4     
==========================================
+ Hits         2864     2995     +131     
+ Misses       4468     4341     -127     

Impacted Files	Coverage Δ
core/src/stages/move_relative.cpp	51.37% <75.00%> (+51.37%)	⬆️
core/src/stage.cpp	78.85% <100.00%> (+0.04%)	⬆️
core/src/solvers/cartesian_path.cpp	84.22% <0.00%> (+84.22%)	⬆️
...ude/moveit/task_constructor/stages/move_relative.h	100.00% <0.00%> (+100.00%)	⬆️

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