Adds multi (joint) state validation service (backport #3426)

[mergify]

Description

The normal state validation service is not very fast if you want to check a lot of joint states. This is significantly faster.

Requires moveit/moveit_msgs#186

Please could this be backported to humble

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

---

This is an automatic backport of pull request #3426 done by [Mergify](https://mergify.com).

[codecov]

Codecov Report

Attention: Patch coverage is 2.22222% with 44 lines in your changes missing coverage. Please review.

Project coverage is 46.22%. Comparing base (e489b04) to head (a4ddd5a).

Files with missing lines	Patch %	Lines
...pabilities/state_validation_service_capability.cpp	0.00%	26 Missing ⚠️
...ties/multi_state_validation_service_capability.cpp	5.56%	17 Missing ⚠️
...ties/multi_state_validation_service_capability.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #3496      +/-   ##
==========================================
+ Coverage   46.21%   46.22%   +0.02%     
==========================================
  Files         718      720       +2     
  Lines       62675    62693      +18     
  Branches     7589     7591       +2     
==========================================
+ Hits        28957    28975      +18     
+ Misses      33554    33553       -1     
- Partials      164      165       +1     

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