Make moveit_servo listen to Octomap updates (backport #2601) (#2607)

Co-authored-by: Amal Nanavati <[email protected]>
(cherry picked from commit 87d5945)

Co-authored-by: Amal Nanavati <[email protected]>

Author: mergify[bot]

moveit_ros/moveit_servo/src/utils/common.cpp

@@ -336,6 +336,7 @@ planning_scene_monitor::PlanningSceneMonitorPtr createPlanningSceneMonitor(const
 
   planning_scene_monitor->startStateMonitor(servo_params.joint_topic);
   planning_scene_monitor->startSceneMonitor(servo_params.monitored_planning_scene_topic);
+  planning_scene_monitor->startWorldGeometryMonitor();
   planning_scene_monitor->setPlanningScenePublishingFrequency(25);
   planning_scene_monitor->getStateMonitor()->enableCopyDynamics(true);
   planning_scene_monitor->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE,