update root joint if needed, after doing backward fk
update root joint if needed, after doing backward fk

davetcoleman/moveit,ros-planning/moveit,v4hn/moveit,v4hn/moveit,v4hn/moveit,ros-planning/moveit,ros-planning/moveit,davetcoleman/moveit,ros-planning/moveit,davetcoleman/moveit,ros-planning/moveit,v4hn/moveit,davetcoleman/moveit