Enhance pilz can service request

[sjahr]

Description

Follow up PR to address #2082 (review)

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

Patch coverage: 75.00% and project coverage change: +0.03 🎉

Comparison is base (cc1ef61) 50.53% compared to head (b0f28b0) 50.55%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2087      +/-   ##
==========================================
+ Coverage   50.53%   50.55%   +0.03%     
==========================================
  Files         387      387              
  Lines       31719    31734      +15     
==========================================
+ Hits        16025    16039      +14     
- Misses      15694    15695       +1     

Impacted Files	Coverage Δ
...ion_planner/src/pilz_industrial_motion_planner.cpp	94.60% <75.00%> (-5.40%)	⬇️

... and 2 files with indirect coverage changes

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[henningkayser]

Looks like you'll have to fix this test now https://github.com/ros-planning/moveit2/blob/main/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_pilz_industrial_motion_planner.cpp#L148