Add computePlanThroughPoses function

[elsayedelsheikh]

Plan through a list of poses using computePlanThroughPoses function

grab2/grab2_planner/src/planner_server.cpp

Lines 81 to 101 in 92ce49f

	void PlannerServer::computePlanThroughPoses(
	const std::shared_ptr<GoalHandle<ActionThroughPoses>> goal_handle)
	{
	RCLCPP_INFO(this->get_logger(), "Executing ComputePlanThroughPoses");
	const auto goal = goal_handle->get_goal();
	auto result = std::make_shared<ActionThroughPoses::Result>();
	// Check if we need to initialize
	if (!initialized_) {
	initialize();
	}
	// TODO(ElSayed): Implement your planning logic here
	// Example:
	// - Use move_group_interface_ to plan through goal->target_poses
	// - Fill result->trajectory
	// For now, just abort
	goal_handle->abort(result);
	}

given

grab2/grab2_msgs/action/ComputePlanThroughPoses.action

Line 3 in 92ce49f

geometry_msgs/PoseStamped[] goals