Migrate PRBT ikfast plugin from moveit_resources

[v4hn]

As announced in #2653 (comment) .
Together with moveit/moveit_resources#79 this is supposed to provide a straight-forward solution for #2653 .

Moving the plugin here circumnavigates problems with running tests in the moveit repository that are based on it. Before, this plugin was part of moveit_resources, but introduced a compile time dependency on moveit_core.
Because a repository's tests should run without having to compile downstream code (a sane requirement on buildfarm/prerelease tests), we move the plugin here instead.

[rhaschke]

As said before, I do not support moving a specific IKfast planner into the moveit_kinematics package, which should provide generic interfaces only.
Additionally, as pointed out in moveit/moveit_resources#79 (comment), moving the IK plugin into moveit_kinematics, will not resolve the issue that moveit_resources depends on moveit_kinematics.

If that is the only alternative solution we can come up with, I would prefer the current solution, pulling both moveit and moveit_resources into the target workspace of GHA (and accept the broken prerelease + build farm test).

[v4hn]

As said before, I do not support moving a specific IKfast planner into the moveit_kinematics package, which should provide generic interfaces only.

We could put it in a separate ROS package in the repository if that's your main concern.
The only important thing to get this to work is that the code is somewhere in this repository and it somewhat made sense to me to associate it with moveit_kinematics.

[codecov]

Codecov Report

Merging #2697 (04c71b4) into master (b75d37e) will decrease coverage by 0.12%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master    #2697      +/-   ##
==========================================
- Coverage   60.62%   60.51%   -0.11%     
==========================================
  Files         402      402              
  Lines       29615    29615              
==========================================
- Hits        17952    17918      -34     
- Misses      11663    11697      +34     

Impacted Files	Coverage Δ
.../ompl_interface/src/detail/constrained_sampler.cpp	43.25% <0.00%> (-16.21%)	⬇️
...ove_group_interface/src/wrap_python_move_group.cpp	34.83% <0.00%> (-2.98%)	⬇️
...e/src/parameterization/model_based_state_space.cpp	68.31% <0.00%> (-2.81%)	⬇️
moveit_core/robot_model/src/joint_model_group.cpp	63.06% <0.00%> (-1.94%)	⬇️
...meterization/work_space/pose_model_state_space.cpp	82.70% <0.00%> (-0.64%)	⬇️
.../move_group_interface/src/move_group_interface.cpp	47.12% <0.00%> (-0.19%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	68.55% <0.00%> (-0.13%)	⬇️
moveit_core/robot_state/src/robot_state.cpp	50.64% <0.00%> (-0.09%)	⬇️

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[v4hn]

Closing as we decided to take a different approach.
Still, someone has to actually do all the work for this...