fix segfault when planning with differential drive planar joint

[jsupratman13]

Description

• Assume and fix Segmentation fault when planning with differential drive planar joints #3655
• This PR is based on MoveIt1 PR (Fix segfault when planning with differential drive planar joints moveit#3457) with additional test code.
• This patch is intended solely to prevent planning (with differential drive planar joint) from segfault.
• CI seem to be failing because ros-rolling-picknik-reset-fault-controller is not found, but it looks like this was fixed in Build failure on ROS 2 Rolling Buildfarm PickNikRobotics/picknik_controllers#22. I assume this will be restored in the next rolling sync. Not sure if I should keep the PR open or convert to draft until ci issue is fixed.

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

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 46.10%. Comparing base (5a8ef4d) to head (0dd4539).

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3659      +/-   ##
==========================================
- Coverage   46.23%   46.10%   -0.12%     
==========================================
  Files         726      726              
  Lines       59484    59506      +22     
  Branches     7625     7628       +3     
==========================================
- Hits        27495    27430      -65     
- Misses      31822    31911      +89     
+ Partials      167      165       -2     

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.