gazebo_plugin: Added gazebo plugin for moveit planning scene #1334
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job-1994
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In a previous PR the gazebo plugin for publishing the planning scene interface was added from a previous ROS version to Kinetic. This code seems again to have been omitted, and is not included in Noetic. This PR is to reintroduce it.
The previous PR linked here: #713
I have tested it out using a custom world with a UR robot in simulation.