Short-circuit planning adapters

[rhaschke]

This is a simpler implementation of #1605, which is forward-ported from moveit/moveit#3262.
In contrast to #1605 we can keep the existing boolean return types as the error code can be propagated in res.error_code_.
There is no need to additionally use the return value to propagate an error code. By the way, eventually the propagated return value wasn't used at all, but simply cast back to a boolean:
https://github.com/ros-planning/moveit2/blob/abbbb9d906d21cb7fe2d3ee7c2a2a31799b9d0aa/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp#L270-L271

As this PR first reverts #1605, the diff is primarily cluttered by this revert. For review, one ideally compares directly to the original main branch: 749c5ae...rhaschke:moveit2:short-circuit-planning-adapters

[codecov]

Codecov Report

Base: 51.03% // Head: 50.98% // Decreases project coverage by -0.05% ⚠️

Coverage data is based on head (8efb971) compared to base (72e29b4).
Patch has no changes to coverable lines.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1694      +/-   ##
==========================================
- Coverage   51.03%   50.98%   -0.04%     
==========================================
  Files         378      378              
  Lines       31649    31649              
==========================================
- Hits        16148    16134      -14     
- Misses      15501    15515      +14     

Impacted Files	Coverage Δ
moveit_ros/moveit_servo/src/pose_tracking.cpp	76.78% <0.00%> (-1.89%)	⬇️
moveit_ros/moveit_servo/src/servo_calcs.cpp	66.45% <0.00%> (-1.49%)	⬇️
...e/collision_detection_fcl/src/collision_common.cpp	73.76% <0.00%> (-0.22%)	⬇️

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[AndyZe]

I'm fine with the general idea of returning bool. We went back and forth in the original PR between bool, void, and MoveItErrorCode. I think void or bool is the best option so it's not redundant with res. Testing this now.

[AndyZe]

Generally looks good, I verified functionality

[henningkayser]

This actually looks simpler. I somewhat like the idea of returning the bool-convertible error code more (which could work just the same way), but either way is fine to me.

[rhaschke]

This actually looks simpler. I somewhat like the idea of returning the bool-convertible error code more (which could work just the same way).

It is simpler and it is removing redundancy (returning the error code by return value and in response).