This is very good, but there is a duplicate name now in capability_names.h, in move_group. It would be great if we could keep the name here, but have capability_names.h define ```GET_PLANNING_SCENE_SERVICE_NAME``` to be set to ```PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_SERVICE```. We would need to move the strings names from capability_names.h into a .cpp file that gets linked into the ```moveit_move_group_capabilities_base``` library.