as this link doesn't have any collision model anymore

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