README out of date for moveit2

[ppbrown]

I initially tried the instructions in the README, and they bombed out. Bunch of errors like, moveit_ros_planning: Cannot locate rosdep definition for [generate_parameter_library]

But...ros foxy HAS moveit2 packages now? Why not use them?

So I tried the following:

apt install ros-foxy-chomp-motion-planner ros-foxy-stomp \
ros-foxy-moveit-planners-chomp ros-foxy-moveit-chomp-optimizer-adapter \
ros-foxy-moveit-servo ros-foxy-moveit-runtime ros-foxy-moveit-ros-planning \
ros-foxy-moveit-common \
ros-foxy-warehouse-ros-mongo

cd ~/ros2_ws/src
 git clone -b use_new_joint_handle https://github.com/ShotaAk/fake_joint
cp doosan-robot2/common2/resource/fake_joint_driver_node.cpp fake_joint/fake_joint_driver/src/fake_joint_driver_node.cpp
cd ..
rosdep install -r --from-paths src --ignore-src --rosdistro foxy -y
rm -rf src/doosan-robot2/moveit_config_*/COLCON_IGNORE
colcon build
. install/setup.bash

This got me to the point where I could run the sample commands like ros2 launch moveit_config_m1013 m1013.launch.py and it would pop up rviz.

The only problem is that it showed an empty view. No Robot, unlike when I do the non-moveit things like ros2 launch dsr_launcher2 dsr_joint_state_pub.launch.py model:=a0912 color:=blue

and it shows the robot just fine.