Fixed CHOMP configurations and launch file for porting to moveit melodic-devel

[ghost]

We have tried your melodic-devel branch for motion planning using CHOMP of simulation and real robot. But that was failed.

We refered from melodic-devel of ros-planning/panda_moveit_config, the launch and configurations have changed as follows:

• added parameters named 'request_adapters' in chomp_planning_pipeline.launch
• added 3 new CHOMP parameters in chomp_planning.yaml file

Then, our challenge was succeeded.

[cjds]

@moriarty if you approve I'll merge

[moriarty]

Thanks @yhijioka !