Possible memory leak in MoveIt's usage of geometric_shapes

[Mike Lautman]

I have noticed a potential memory leak in MoveIt's usage of geometric_shapes for the planning_scene. After adding and removing boxes thousands of times to different planning_scene::PlanningScenePtrs, removing boxes starts to take an incredibly long time. This can be demonstrated by modifying suction_grasp_pipeline_demo.cpp to filter grasps with the moveit_grasps::SuctionGraspFilter > 10 times in a single run. (see: suction_grasp_pipeline_demo.launch)

I was wondering, what reason do we have for using raw pointers with explicit memory management for the planning scene world and the underlying geometric shapes?

Perhaps @davetcoleman, @rhaschke or @v4hn could weigh in here

[Mike Lautman]

moving to MoveIt repo since the bug was discovered in MoveIt's usage of geometric shapes.