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[Humble] Replace more ros-planning with moveit2 #7797

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[Humble] Replace more ros-planning with moveit2

[Humble] Replace more ros-planning with moveit2 #7797

Run time

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Job Run time
humble-ci + ccov
15m 2s
humble-ci + ikfast + clang-tidy (delta)
13m 36s
28m 38s