Make moveit_servo listen to Octomap updates (#2601)

* Start servo's world geometry monitor

* Typo fix

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

Author: amalnanavati

moveit_ros/moveit_servo/src/utils/common.cpp

@@ -400,6 +400,7 @@ 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,