franka_ros doesn't provide a ros_control controller for the gripper, but a GripperCommand action server.
Thus, there is no need to load/start the gripper controller (via ros_control).

- Provide a transmission argument to switch between position, velocity, and effort controllers
- Implements https://github.com/frankaemika/franka_ros/pull/186#issuecomment-965338478

Introduce a new, second arm group, "arm", which defines the new tool tip.
A corresponding second end-effector "tool" is linked to this group.

to be more consistent with hand.xacro, which doesn't have the panda prefix either.

We don't want to consider the coarse model for any environmental interaction.
MoveIt Task Constructor uses the group to disable and re-enable collisions
when grasping resp. releasing an object.

Adds files needed to run the
[lerp_planning_example](https://ros-planning.github.io/moveit_tutorials/doc/creating_moveit_plugins/plugin_tutorial.html)

This commit adds the files needed for running the trajopt planner example that is found in the
[moveit_tutorials](https://ros-planning.github.io/moveit_tutorials/doc/trajopt_planner/trajopt_planner_tutorial.html).
This planner is not included into `move_group.launch` by default but can be invoked via the `pipeline` argument.
This was done since it is not yet officially released (see https://github.com/ros-planning/moveit/issues/1467).

* Add stomp planner

This commit adds all the scripts needed to run the STOMP planner example in the
[stomp_planner_tutorial](https://ros-planning.github.io/moveit_tutorials/doc/stomp_planner/stomp_planner_tutorial.html).

* Add demo_chomp.launch
* Restore original 'chomp_planning.yaml' config
* Add CHOMP post-processing example, using OMPL+CHOMP

Introduced in https://github.com/frankaemika/franka_ros/pull/194, this allows for a more convinient configuration of the gripper.

... utilizing a new feature of MoveIt / SRDF
Now, it's possible to disable collision for a specific collision name by default.
The definition of specific collision pairs will override this default.

This allows disabling collision for the coarse hand geometries
and enabling it for selected pairs of links only (for self-collision checking).

On the other hand, the detailed hand collision geometries are enabled by default,
but selectively disabled for self-collision checking for all arm links.

Keep manually adjusted joint limits from the original Melodic branch.

- Use factors of pi
- Fix joint limit violation for "extended" pose

As Franka changed the collision geometries from meshes to coarse shapes
(matching the collision model of the internal controller) we now observe various self-collisions
in some default poses. This commit disables collision checks between link8 and links 5+6.
as well as between link3 and link5.

The corresponding collision are handled by joint limits already.

This argument is needed for the [quickstart-in-rviz-tutorial](https://ros-planning.github.io/moveit_tutorials/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html).

https://ros-planning.github.io/moveit_tutorials/doc/perception_pipeline/perception_pipeline_tutorial.html