fix segfault when planning with differential drive planar joint

[jsupratman13]

Description

• Assume and fix Segmentation fault when planning with differential drive planar joints #3655
• This PR is based on MoveIt1 PR (Fix segfault when planning with differential drive planar joints moveit#3457) with additional test code.
• This patch is intended solely to prevent planning (with differential drive planar joint) from segfault.
• CI seem to be failing because ros-rolling-picknik-reset-fault-controller is not found, but it looks like this was fixed in Build failure on ROS 2 Rolling Buildfarm PickNikRobotics/picknik_controllers#22. I assume this will be restored in the next rolling sync. Not sure if I should keep the PR open or convert to draft until ci issue is fixed Keeping this PR on draft until next rolling sync

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 46.30%. Comparing base (5a8ef4d) to head (0333cb6).

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3659      +/-   ##
==========================================
+ Coverage   46.23%   46.30%   +0.08%     
==========================================
  Files         726      726              
  Lines       59484    59497      +13     
  Branches     7625     7629       +4     
==========================================
+ Hits        27495    27544      +49     
+ Misses      31822    31786      -36     
  Partials      167      167              

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