Fix package dependencies

safety_planning_request_adapters/package.xml

-<package format="3">
+<package format="2">
   <name>safety_planning_request_adapters</name>
   <version>0.0.1</version>
   <description>The safety_planning_request_adapters package</description>
   <maintainer email="david.tiede@mailbox.tu-dresden.de">David Tiede</maintainer>
   <license>TODO</license>
+
   <buildtool_depend>catkin</buildtool_depend>
+  <depend>moveit_core</depend>
   <depend>moveit_ros_planning</depend>
+  <depend version_gte="1.11.2">pluginlib</depend>
   <depend>roscpp</depend>
   <depend>std_msgs</depend>
   <depend>trajectory_msgs</depend>
+
   <export>
     <moveit_core plugin="${prefix}/planning_request_adapters_plugin_description.xml"/>
   </export>
+
 </package>
\ No newline at end of file