The online planning example does not work anymore

[rjoomen]

The online planning example stopped working. Partially this is because an incorrect rviz config, but when I fix that I still have the following issues:

• No visible trajectory with all the intermediate states shown (like in the demo gif)
• The trajectory tab of the Workbench fills up with countless trajectories

I'm not sure how to fix this (in tesseract_ros2 it hasn't been working either).

[Levi-Armstrong]

Yea, this one will require some work to the visualization back working but was not planning to add back the trail feature so may just need to have it cycle through the trajectory.