Open TODOs

[henningkayser]

This is a lazy list of things that should be broken down into issues and solved:

• Implement StompPlanningContext::solve() for MotionPlanDetailedResponse
• Support path visualization from example when using planner plugin #7
• Implement planner timeout
• Expose some more hardcoded constants: collision check discretization, cost smoothing
• Implement initialization mode TRAJECTORY to allow optimizing on input path + to enable planner adapter #10
• Implement costs and validity checks for constraints
• Auto-set more of the config based on MotionPlanRequest, or expose config "profiles"
• Fix CI caching issue