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This service was removed for performance reasons - you can this information (and a whole bunch of other useful functions) from the C++ planning_environment interface using this code:

#include <planning_environment/models/collision_models.h>

      planning_environment::CollisionModels collision_models("robot_description");
      std::vector<std::string> joint_names = collision_models->getKinematicModel()->getModelGroup(GROUP_NAME)->getJointModelNames();