Perception tutorial missing some updates merged in (moveit1's) moveit_tutorials

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Description

Overview of your issue here.

For perception tutorial, I manually confirmed that the changes in these PRs are not included in moveit2_tutorials.

• https://github.com/ros-planning/moveit_tutorials/pull/609,
• https://github.com/ros-planning/moveit_tutorials/pull/627,
• https://github.com/ros-planning/moveit_tutorials/pull/633,
• https://github.com/ros-planning/moveit_tutorials/pull/672

Expected behaviour

• I do not know if all the changes in the listed PRs are absolute necessity in ros2, esp. the perception tutorial hasn't yet been ported to ros2 (tracked in https://github.com/ros-planning/moveit2_tutorials/issues/583).
  • Which I'm trying to address in https://github.com/ros-planning/moveit2_tutorials/pull/700, including testing the changes in the listed PRs

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In https://github.com/ros-planning/moveit2_tutorials/pull/700 I manually cherry-picked the changes from the PRs listed in https://github.com/ros-planning/moveit2_tutorials/issues/708.

• Changes from each PR is committed separately for the better visibility.
• Initially I tried to git cherry-pick those changes, but some PRs included changes outside of perception tutorial, which is not my scope of the PR, so I gave up and went ahead manually applying changes.

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Resolution to this is now ready for review in https://github.com/ros-planning/moveit2_tutorials/pull/700

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Closing as I think https://github.com/moveit/moveit2_tutorials/pull/906 addresses this.

[130s]

Sorry I closed a wrong ticket. Reopening.