Shut down PSM publishing before starting to publish on a potentially new topic #2680
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tylerjw
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Feb 9, 2024
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Turns out that if the planning scene already had an active publisher, the new options from MoveItCpp would not take effect.
This PR ensures that publishing to a planning scene from MoveItCpp first shuts down other publishers, and if this check fails I added a few warnings that helped me debug this issue.
Fixes moveit/moveit2_tutorials#869