Draft: Improve: panda_moveit: Add parameters for perception tutorial

[130s]

Issue

• MoveIt's Perception Pipeline Tutorial (perception tutorial requires setting ROS parameters to Moveit.
  In the tutorial at the time of writing, those params are meant to be added manually by a reader. While that is not very nice, the tutorial does not instruct to build necessary pkgs from source, so readers would have little to no idea for what to do.
• 'panda_arm_hand.urdf.xacro' no longer provided by upstream but still in use moveit2_tutorials#701

Approach toward solution

• The tutorial is made in the way moveit starts from moveit_config package, which is maintained in this repo. So add them here.
• Adding a new xacro file that is only found in franka_description.

Related work

• Primary motive to open this PR is a PR in downstream ros2-ify perception pipeline moveit2_tutorials#700 that uses this change.

[130s]

(Dev-testing) Reading params from a file seems to be failing.

[move_group-5] [ERROR] [1686343188.448424614] [rcl]: Failed to parse global arguments
[move_group-5] terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
[move_group-5]   what():  failed to initialize rcl: Couldn't parse params file: '--params-file /tmp/launch_params_b7467iww'. Error: Sequences can only be values and not keys in params. Error at line 2
[move_group-5] , at ./src/parse.c:841, at ./src/rcl/arguments.c:406                 
[move_group-5] Stack trace (most recent call last):                                 
[move_group-5] #14   Object "", at 0xffffffffffffffff, in                           
[rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'

UPDATE: Param file format was wrong, had to be ros2-ified.

[130s]

This single file is obviously not enough as some lines depend on franka_description pkg.

[rhaschke]

Did they switch moveit_tutorials from panda_moveit_config to moveit_resources_panda_moveit_config in ROS2?
I suggest adapting panda_moveit_config for ROS2 (it already has a rolling-devel branch) instead of switching to and bloating moveit_resources.

[130s]

Did they switch moveit_tutorials from panda_moveit_config to moveit_resources_panda_moveit_config in ROS2?

@rhaschke I'm not entirely sure, I haven't seen the rationale to switch to moveit_resources_panda_moveit_config, but that is what I see has happened in moveit/moveit2_tutorials#61.

My guess is that panda_moveit_config is meant to be kept as indifferent from tutorials (e.g. moveit tutorial) while tutorials writes may want to add things that a moveit_config package doesn't contain (e.g. I'm seeing perception tutorial moveit/moveit2_tutorials#700 in moveit adds sensor configs).