Planning Scene is missing TF frames

[schornakj]

Description

I think there's a regression in #310 that prevents the planning scene from tracking frames that are published to TF but aren't associated with links in the URDF.

Your environment

• Rolling
• Ubuntu 20.04
• Source build, main branch at 974a7a174.

Steps to reproduce

• ros2 launch run_move_group run_move_group.launch.py
• Create a node with a TF publisher and publish "world" to "test_frame".
• ros2 service call /get_planning_scene moveit_msgs/srv/GetPlanningScene '{}'

Expected behaviour

Planning scene should contain info about a transform from "world" to "test_frame".

Actual behaviour

After #310, the planning scene service response does not contain info about this transform. A practical result of this is that MoveIt Task Constructor's GeneratePose stages fail while finding IK solutions for named target poses published through TF.

[jrgnicho]

I think I'm getting errors related to this issue. I basically run the move_group node with the occupancy_map_updater expecting to see the octomap in rviz but no octomap is shown and in the terminal I get the following error messages:

Do not call canTransform or lookupTransform with a timeout unless you are using another thread for populating data. Without a dedicated thread it will always timeout.  If you have a separate thread servicing tf messages, call setUsingDedicatedThread(true) on your Buffer instance.
[move_group-1] [ERROR] [1630597665.236855007] [tf2_buffer]: Do not call canTransform or lookupTransform with a timeout unless you are using another thread for populating data. Without a dedicated thread it will always timeout.  If you have a separate thread servicing tf messages, call setUsingDedicatedThread(true) on your Buffer instance.
[move_group-1] [ERROR] [1630597665.236945719] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Transform error: "world_frame" passed to lookupTransform argument target_frame does not exist. 
[move_group-1] [ERROR] [1630597665.236971975] [moveit.ros.occupancy_map_updater]: Transform cache was not updated. Self-filtering may fail. If transforms were not available yet, consider setting robot_description_planning/shape_transform_cache_lookup_wait_time to wait longer for transforms