Add ns for depth image & pointcloud octomap updaters

[Tuebel]

Description

Added a ns parameter to the octomap updaters in order to fix #2846 . This avoids the Tried to advertise a service that is already advertised errors.

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

[welcome]

Thanks for helping in improving MoveIt and open source robotics!

[codecov]

Codecov Report

Merging #2916 (baf1667) into master (a0ee202) will increase coverage by 0.02%.
The diff coverage is 85.72%.

@@            Coverage Diff             @@
##           master    #2916      +/-   ##
==========================================
+ Coverage   61.31%   61.33%   +0.02%     
==========================================
  Files         373      373              
  Lines       31742    31747       +5     
==========================================
+ Hits        19461    19469       +8     
+ Misses      12281    12278       -3     

Impacted Files	Coverage Δ
...octomap_updater/src/pointcloud_octomap_updater.cpp	31.71% <85.72%> (+2.15%)	⬆️
...meterization/work_space/pose_model_state_space.cpp	81.14% <0.00%> (-1.88%)	⬇️
...raint_samplers/src/default_constraint_samplers.cpp	79.23% <0.00%> (+0.30%)	⬆️
...g_scene_interface/src/planning_scene_interface.cpp	49.72% <0.00%> (+1.16%)	⬆️
...ipulation/pick_place/src/manipulation_pipeline.cpp	71.30% <0.00%> (+1.86%)	⬆️
..._interface/src/detail/constrained_goal_sampler.cpp	76.00% <0.00%> (+2.00%)	⬆️

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[v4hn]

• Almost trivial patch
• Looks good
• New functionality makes sense

thanks for the patch 👍

[AndyZe]

My only concern is, we might end up with two or three slashes. For example, if the user defines these parameters:

ns = "/left_realsense/"
filtered_cloud_topic = "/camera_topic"

[AndyZe]

Although I think that's an acceptable risk and shouldn't be too hard for a user to figure out by rostopic list / rosservice list. The amount of parsing code to handle that would be excessive IMO.

In short, I approve 👍

[AndyZe]

@Tuebel shall I merge it now?

[Tuebel]

Yes that would be great, thanks!

[welcome]

Congrats on getting your first MoveIt pull request merged and improving open source robotics!