Reverts #2985, Ports moveit #3388 #3470 #3539 (backport #3284)

[mergify]

Description

• Fixes RobotState::getRigidlyConnectedParentLinkModel and subframes: PRs not ported from moveit1. #3279
• As Ports a6f8bb9 331381a 593a119 and 593a119 from moveit1 #3280, but with history correctly preserved. (Also includes a few commits in the same PRs, which Ports a6f8bb9 331381a 593a119 and 593a119 from moveit1 #3280 missed)
• N.B. does not include changes to cartesian_path_service_capability, as that has changed significantly since the Moveit1 PRs were made.
• Please back-port to Humble and Jazzy when merged

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

---

This is an automatic backport of pull request #3284 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of 1794b8e has failed:

On branch mergify/bp/humble/pr-3284
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit 1794b8efa.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   moveit_core/robot_model/src/robot_model.cpp
	modified:   moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp
	modified:   moveit_ros/planning_interface/test/subframes_test.cpp

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	deleted by us:   moveit_core/robot_model/include/moveit/robot_model/robot_model.hpp
	both modified:   moveit_core/robot_state/CMakeLists.txt
	deleted by us:   moveit_core/robot_state/include/moveit/robot_state/attached_body.hpp
	deleted by us:   moveit_core/robot_state/include/moveit/robot_state/robot_state.hpp
	both modified:   moveit_core/robot_state/src/cartesian_interpolator.cpp
	both modified:   moveit_core/robot_state/src/robot_state.cpp
	both modified:   moveit_core/robot_state/test/robot_state_test.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[sea-bass]

Same here @rr-mark -- could you look at the Humble conflicts?

[rr-mark]

#3323

[codecov-commenter]

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Codecov Report

Attention: Patch coverage is 84.61538% with 4 lines in your changes missing coverage. Please review.

Project coverage is 51.41%. Comparing base (c3cd237) to head (adfb33b).
Report is 1 commits behind head on humble.

Files with missing lines	Patch %	Lines
moveit_core/robot_model/src/robot_model.cpp	75.00%	3 Missing ⚠️
...it_core/robot_state/src/cartesian_interpolator.cpp	0.00%	1 Missing ⚠️

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Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #3319      +/-   ##
==========================================
+ Coverage   51.37%   51.41%   +0.04%     
==========================================
  Files         382      382              
  Lines       31874    31892      +18     
==========================================
+ Hits        16372    16394      +22     
+ Misses      15502    15498       -4     

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