Add --world flag to publish_scene_from_text

[LetianLi]

Description

Adds a --world flag for use in conjunction with --scene flag. Publishing to the topics DEFAULT_PLANNING_SCENE_TOPIC (pub_scene), and DEFAULT_PLANNING_SCENE_WORLD_TOPIC (pub_world_scene) are no longer mutually exclusive with this new optional flag. To be backwards compatible, the absence of both flags defaults to pub_world_scene just like it did previously.

Examples:

Flags	Scene Topic	Scene World Topic
N/A	❌	✅
--world	❌	✅
--scene	✅	❌
--scene --world	✅	✅

Fixes #2104 where the absence of --scene failed to publish to pub_world_scene in a timely manner.

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

[LetianLi]

I was not able to find any existing documentation nor tests for this file. I am also unable to run this myself at this moment.

I made this change because I was working with the ros1 version (where I needed to publish to both scene and world) and saw a bug in the ros2 version that I could fix at the same time.

[rhaschke]

Just a small nitpick...

[codecov]

Codecov Report

❌ Patch coverage is 0% with 56 lines in your changes missing coverage. Please review.
✅ Project coverage is 46.22%. Comparing base (631e7ba) to head (917fe59).
⚠️ Report is 5 commits behind head on main.

Files with missing lines	Patch %	Lines
...g_components_tools/src/publish_scene_from_text.cpp	0.00%	56 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3512      +/-   ##
==========================================
+ Coverage   46.19%   46.22%   +0.03%     
==========================================
  Files         720      720              
  Lines       62714    62734      +20     
  Branches     7590     7595       +5     
==========================================
+ Hits        28962    28990      +28     
+ Misses      33585    33578       -7     
+ Partials      167      166       -1     

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[LetianLi]

Are there any additional action items?

[rhaschke]

This needs approval from an official MoveIt2 maintainer.

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[EzraBrooks]

This seems like a pretty substantial change to be making without adding any tests. Could you add at least one demonstrating the successful case?