Silent "empty quaternion" warning from poseMsgToEigen()

[rhaschke]

Old-style code, not specifying a pose for a CollisionObject is handled specially (using the only shape's pose for the object).
Thus, there is no need to apply poseMsgToEigen() on that empty pose, which would trigger a warning.

[codecov]

Codecov Report

Patch coverage: 100.00% and project coverage change: +0.03 🎉

Comparison is base (55d2019) 61.74% compared to head (fa6331c) 61.76%.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #3435      +/-   ##
==========================================
+ Coverage   61.74%   61.76%   +0.03%     
==========================================
  Files         385      385              
  Lines       34061    34061              
==========================================
+ Hits        21028    21036       +8     
+ Misses      13033    13025       -8     

Impacted Files	Coverage Δ
moveit_core/planning_scene/src/planning_scene.cpp	66.73% <100.00%> (ø)

... and 7 files with indirect coverage changes

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