add API for passing RNG to setToRandomPositionsNearBy

[PeterMitrano]

Description

add API for passing RNG to setToRandomPositionsNearBy

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

Merging #2799 (b5f775e) into master (b170d62) will decrease coverage by 0.43%.
The diff coverage is 50.00%.

❗ Current head b5f775e differs from pull request most recent head cb4ca38. Consider uploading reports for the commit cb4ca38 to get more accurate results

@@            Coverage Diff             @@
##           master    #2799      +/-   ##
==========================================
- Coverage   60.87%   60.44%   -0.42%     
==========================================
  Files         366      366              
  Lines       31705    31677      -28     
==========================================
- Hits        19296    19144     -152     
- Misses      12409    12533     +124     

Impacted Files	Coverage Δ
...bot_state/include/moveit/robot_state/robot_state.h	83.86% <ø> (-1.18%)	⬇️
moveit_core/robot_state/src/robot_state.cpp	50.43% <50.00%> (-1.21%)	⬇️
moveit_core/robot_state/src/conversions.cpp	44.71% <0.00%> (-19.43%)	⬇️
.../ompl_interface/src/detail/constrained_sampler.cpp	43.25% <0.00%> (-16.21%)	⬇️
moveit_core/robot_state/src/attached_body.cpp	48.15% <0.00%> (-5.95%)	⬇️
moveit_core/planning_scene/src/planning_scene.cpp	58.77% <0.00%> (-4.37%)	⬇️
moveit_core/robot_model/src/planar_joint_model.cpp	75.68% <0.00%> (-0.90%)	⬇️
...istance_field/src/collision_env_distance_field.cpp	64.23% <0.00%> (-0.04%)	⬇️
... and 25 more

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[PeterMitrano]

See #2802 for CI failure

[tylerjw]

This seems reasonable. Do you plan on updating the tests to make them more consistent by using a fixed seed and a specific RNG?

[tylerjw]

Please rebase so we can merge this. I tried updating it for you but the checkbox to let me push wasn't checked.

[felixvd]

This seems reasonable. Do you plan on updating the tests to make them more consistent by using a fixed seed and a specific RNG?

Nice idea. Make a "good first issue" post out of it!

[PeterMitrano]

Yea I can put adding a test on my TODO list but no guarantees, it would be good to make an issue for it then I can watch it

[tylerjw]

Yea I can put adding a test on my TODO list but no guarantees, it would be good to make an issue for it then I can watch it

#2851