Port planning components tools

[JafarAbdi]

Description

This's a partial port the other executable need porting planning scene monitor first

For the multi-threading section, I used the method here

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

[henningkayser]

Looks good to me. @JafarAbdi do you consider this done or do we need to add/test something?
Also, please rebase and update commit descriptions before merge

[JafarAbdi]

Looks good to me. @JafarAbdi do you consider this done or do we need to add/test something?

Few minutes and I'll force push the latest changes

[JafarAbdi]

@henningkayser Done!