Cherry-Pick #1033: Fix #868 #1057
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…moveit#923)" This reverts commit cf2217c.
... to become independent of any capabilities that might block the global queue
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* Revert "disable waitForCurrentRobotState() for PlanService capability (moveit#923)" This reverts commit cf2217c. * only waitForCurrentRobotState when start_state.is_diff as discussed in moveit#868 (comment) * reduce code duplication * use own EventQueue in PlanningSceneMonitor ... to become independent of any capabilities that might block the global queue * PlanningSceneMonitor: accept parent NodeHandle * add MIGRATION note
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Cherry-Picking #1033 into Kinetic, with appropriate adaptions to handle old tf.