(not available in Melodic)

This commit adds the 'demo_stomp.launch' file that is referenced in
https://ros-planning.github.io/moveit_tutorials/doc/stomp_planner/stomp_planner_tutorial.html.
Fixes #44.

franka_description got updated with a more coarse collision model [1] matching the internal
self-collision detection, so the SRDF needs to be adapted.

Disable collision checking between panda_link6 and panda_link8 which collide in the default pose.
Tested with example controllers.

Closes #18. Resolves ros-planning/moveit#1210, resolves frankaemika/franka_ros#39.

[1] https://github.com/frankaemika/franka_ros/commit/e52c03a23aa18c6532e40f9bf4927dedfc0c596a

As explained in https://github.com/ros-planning/moveit/pull/2053
AddTimeParameterization should be at the begining of the list.

Co-authored-by: Libor Wagner <libor.wagner@cvut.cz>

* demo_chomp.launch: reuse demo.launch
* new planning pipeline ompl-chomp

Define 'extended' state for 'panda_arm' group.

Fixup of 0b7ac4e6 (#29)

* added new files for emptyplan

* edited demo.launch to accept planner arg

* Added emptyplan_planning.yaml so it can be used for new planners. It is an empty file.
Added rosparam in emptyplan_planning_pipeline.launch.xml to load its yaml file

* added necessary files for LERP

* chaged the virtual joint to fixed

* added yaml file

* addressed the comments

* revet back to floating for virtual joint and revert moveit.rviz

* added new files for emptyplan

* edited demo.launch to accept planner arg

* Added emptyplan_planning.yaml so it can be used for new planners. It is an empty file.
Added rosparam in emptyplan_planning_pipeline.launch.xml to load its yaml file

* from empty to trajopt

* modified some comment

* renamed and edited the context of files from empty to trajopt

* removed  move_group_trajop.launch, we do not need this file

* applied Dave's comments

* restored setup_assistant

* added trajopt params in yaml file
removed extra planner arg in demo.launch

* addressed the comments

* corrected pipeline in move_group

* add default_planner_request_adapters/ResolveConstraintFrames

* chomp pipeline: define default planning adapters

* changing the end effector parent group

* changing virtual joint to floating for use with moveit_visual_tools

As of https://github.com/ros-planning/moveit/pull/1251, CHOMP uses automatically
the hybrid collision detector.

Rename camera to match perception tutorial: https://github.com/ros-planning/moveit_tutorials/pull/178.