Allow planning_scene_options to be set trough node parameters.

[JensVanhooydonck]

Description

When using moveit_py, in the documentation we find the following:
moveit_py documentation

planning_scene_monitor_options:
        name: "planning_scene_monitor"
        robot_description: "robot_description"
        joint_state_topic: "/joint_states"
        attached_collision_object_topic: "/moveit_cpp/planning_scene_monitor"
        publish_planning_scene_topic: "/moveit_cpp/publish_planning_scene"
        monitored_planning_scene_topic: "/moveit_cpp/monitored_planning_scene"
        wait_for_initial_state_timeout: 10.0

However, joint_state_topic, attached_collision_object_topic, publish_planning_scene_topic, monitored_planning_scene_topic can't be set this way because it always loads the defaults.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 46.23%. Comparing base (5a8ef4d) to head (3fd32e4).

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3652      +/-   ##
==========================================
+ Coverage   46.23%   46.23%   +0.01%     
==========================================
  Files         726      726              
  Lines       59484    59487       +3     
  Branches     7625     7624       -1     
==========================================
+ Hits        27495    27498       +3     
  Misses      31822    31822              
  Partials      167      167              

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