MSA: Allow to show both, visual and collision geometry

[rhaschke]

Fixes #780. Note, that this builds on top of #2349!

[codecov]

Codecov Report

Merging #2352 into master will increase coverage by 0.02%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master    #2352      +/-   ##
==========================================
+ Coverage   56.63%   56.64%   +0.02%     
==========================================
  Files         281      281              
  Lines       25457    25457              
==========================================
+ Hits        14415    14418       +3     
+ Misses      11042    11039       -3     

Impacted Files	Coverage Δ
...nning_scene_monitor/src/planning_scene_monitor.cpp	68.32% <0.00%> (-0.14%)	⬇️
...ipulation/pick_place/src/manipulation_pipeline.cpp	75.00% <0.00%> (+0.97%)	⬆️
...meterization/work_space/pose_model_state_space.cpp	83.00% <0.00%> (+1.37%)	⬆️
...terface/parameterization/model_based_state_space.h	76.00% <0.00%> (+4.00%)	⬆️

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[tylerjw]

This is a real nice usability improvement. My only feedback is that it would be nice if it showed joints red if in collision and green when not in the edit pose screen (instead of all red for the group). But I'm approving as that is extra work and this is a major quality life of improvement as is.

[rhaschke]

My only feedback is that it would be nice if it showed joints red if in collision and green when not? in the edit pose screen.

Please file a corresponding issue ;-)
Not sure, though, rviz will colorize the collision mesh at all. (I never have seen it other than red.)