Draft: Improve: panda_moveit: Add parameters for perception tutorial

[130s]

Issue

• MoveIt's Perception Pipeline Tutorial (perception tutorial requires setting ROS parameters to Moveit. In the tutorial at the time of writing, those params are meant to be added manually by a reader. While that is not very nice, the tutorial does not instruct to build necessary pkgs from source, so readers would have little to no idea for what to do.
• https://github.com/ros-planning/moveit2_tutorials/issues/701

Approach toward solution

• The tutorial is made in the way moveit starts from moveit_config package, which is maintained in this repo. So add them here.
• Adding a new xacro file that is only found in franka_description.

Related work

• Primary motive to open this PR is a PR in downstream https://github.com/ros-planning/moveit2_tutorials/pull/700 that uses this change.

[130s]

(Dev-testing) Reading params from a file seems to be failing.

``` [move_group-5] [ERROR] [1686343188.448424614] [rcl]: Failed to parse global arguments [move_group-5] terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError' [move_group-5] what(): failed to initialize rcl: Couldn't parse params file: '--params-file /tmp/launch_params_b7467iww'. Error: Sequences can only be values and not keys in params. Error at line 2 [move_group-5] , at ./src/parse.c:841, at ./src/rcl/arguments.c:406 [move_group-5] Stack trace (most recent call last): [move_group-5] #14 Object "", at 0xffffffffffffffff, in [rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' ```

UPDATE: Param file format was wrong, had to be ros2-ified.

[130s]

Did they switch moveit_tutorials from panda_moveit_config to moveit_resources_panda_moveit_config in ROS2?

@rhaschke I'm not entirely sure, I haven't seen the rationale to switch to moveit_resources_panda_moveit_config, but that is what I see has happened in https://github.com/ros-planning/moveit2_tutorials/issues/61.

My guess is that panda_moveit_config is meant to be kept as indifferent from tutorials (e.g. moveit tutorial) while tutorials writes may want to add things that a moveit_config package doesn't contain (e.g. I'm seeing perception tutorial https://github.com/ros-planning/moveit2_tutorials/pull/700 in moveit adds sensor configs).