add a wait to give TF time to be available

[marioprats]

In kinova_sim, Write PickNik, add a WaitForDuration after TF starts getting published, before starting the other parallel thread, to give some time for the TF to be broadcasted

Closes https://github.com/PickNikRobotics/moveit_pro/issues/19123

[bkanator]

this failed for me on this branch? I am on v9.3 for moveit_pro and on wait-for-tf for the example- ws

[bkanator]

note, it was successful on the second run.

This was the error when it fails:

[objective_server_node_main-6] [2026-05-19 16:54:19.950] [objective_server_node] [info] Objective `Write PickNik` starting at time: 1779209659.95051599 seconds.
[objective_server_node_main-6] [2026-05-19 16:54:19.972] [objective_server_node] [info] No controllers to switch after filtering already-active and already-inactive controllers.
[objective_server_node_main-6] Found path in 0 iterations (2.42e-07 s).
[objective_server_node_main-6] Path shortcutter: [X____________________________________X]
[ros2_control_node-15] [2026-05-19 16:54:20.619] [info] Received new action goal
[ros2_control_node-15] [2026-05-19 16:54:20.619] [info] Accepted new action goal
[ros2_control_node-15] [INFO] [1779209661.626163070] [MujocoSystem]: Mujoco model timestep not running in realtime. Increase the model timestep.
[ros2_control_node-15] [2026-05-19 16:54:22.142] [info] Path tolerance violated, trajectory will be aborted. Current joint deviations: [0.08488938177995173, 0.12185909170823747, 0.18814874922494873, 0.10358546701970717, 0.5003604510893271, 0.025114928040354534, 0.4663688743732166] Path tolerances: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5]
[objective_server_node_main-6] [2026-05-19 16:54:22.400] [objective_server_node] [error] ExecuteTrajectory Error: Controller aborted sub-trajectory 0: Path tolerance violated.
[objective_server_node_main-6] [2026-05-19 16:54:22.400] [objective_server_node] [error] Execution of Behavior Tree for Objective `Write PickNik` did not succeed at time: 1779209662.40074563 seconds