Add dependency on moveit_configs_utils to moveit_setup_assistant

[hacker1024]

Description

moveit_setup_assistant attempts to import moveit_configs_utils in its launch file, but does not declare it in its package.xml.

Checklist

• [x] Required by CI: Code is auto formatted using clang-format
• [ ] Extend the tutorials / documentation reference
• [ ] Document API changes relevant to the user in the MIGRATION.md notes
• [ ] Create tests, which fail without this PR reference
• [ ] Include a screenshot if changing a GUI
• [ ] While waiting for someone to review your request, please help review another open pull request to support the maintainers