Merge 8.7 into 8.8 and uncore moveit_pro_example_ws

[dsobek]

This PR does two things. First it merges v8.7 into v8.8 to pick up changes that we forgot to merge back into main.

Second, this applies changes that were made in the core moveit pro repo.
Unfortunately I couldn't preserve the commit history (because the git subtree integration was messed up by me), but the commits that should have made it are the following:
https://github.com/PickNikRobotics/moveit_pro/commit/17d180b9b1bdcf8cbde1a4d5baabbd65e361eb98
https://github.com/PickNikRobotics/moveit_pro/commit/2c6222668bee3fb48d0024551a13930f9bcd61c6
https://github.com/PickNikRobotics/moveit_pro/commit/f6ac16a1e61a4d6258c3270290f1aab1dcfd5719
https://github.com/PickNikRobotics/moveit_pro/commit/f23291930c6e277c4561e91e3ce58bda8c3d556f

Patching the files was a bit tricky, but here are roughly the commands I followed.

# From the core moveit pro repo on the v8.8 branch
cd moveit_pro_example_ws
# The commit hash here is the start point for changes that didn't make it into this repo
git diff -p 4d74572b9be7df804d0a63dc6bf8cdf33c296d5a --relative . > example_ws.patch
# From the root of the moveit_pro_example_ws repo
# The --reject flag is important here because some files may have been reformatted and the diff may not quite match up
# This allows for us to partially apply a patch and fix failures later
git apply example_ws.patch --verbose --reject
# Then manually apply changes that failed and generated *.rej files.

Part of #14909