[PSM] Process collision object color when adding object trough the planning scene monitor

[JensVanhooydonck]

Added an optional collision object color object to the processCollisionObjectMsg call. This allows will apply the color to the planning scene and make sure this is also synced when publishing a diff planning scene.

Description

Added an optional color_msg to the processCollisionObjectMsg in the Planning scene monitor.

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

[codecov]

Codecov Report

Attention: 3 lines in your changes are missing coverage. Please review.

Comparison is base (0d2d070) 50.47% compared to head (673cb5d) 50.91%.

Files	Patch %	Lines
...nning_scene_monitor/src/planning_scene_monitor.cpp	0.00%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2567      +/-   ##
==========================================
+ Coverage   50.47%   50.91%   +0.44%     
==========================================
  Files         386      387       +1     
  Lines       32228    32430     +202     
==========================================
+ Hits        16265    16507     +242     
+ Misses      15963    15923      -40     

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[sjahr]

@JensVanhooydonck Can you address the clang-tidy warnings? https://github.com/ros-planning/moveit2/actions/runs/7069114994/job/19244454704?pr=2567#step:12:9783

[JensVanhooydonck]

@sjahr Sorry for the delay. Fixed it now.