This commit adds the launch and configuration files for the [STOMP
algorithm](https://ros-planning.github.io/moveit_tutorials/doc/stomp_planner/stomp_planner_tutorial.html).

This commit adds the launch and configuration files for the
[OMPL-CHOMP
algorithm](https://ros-planning.github.io/moveit_tutorials/doc/chomp_planner/chomp_planner_tutorial.html#using-chomp-as-a-post-processor-for-ompl).

This commit removes several redundant parameters that were left after
6114fe5.

This makes sure the `ridge_factor` and `enable_failure_recovery`
parameters in the CHOMP configuration file
(see
https:/ros-planning/moveit/blob/4db626d9c3b5d6296b012188a4a0bfe4bddf6bce/moveit_setup_assistant/src/tools/moveit_config_data.cpp#L290-L309)
are at their defaults (see
https:/ros-planning/moveit/blob/4db626d9c3b5d6296b012188a4a0bfe4bddf6bce/moveit_planners/chomp/chomp_interface/src/chomp_interface.cpp#L48-L83)

…unch/stomp_planning_pipeline.launch.xml

Co-authored-by: Robert Haschke <[email protected]>

…unch/ompl-chomp_planning_pipeline.launch.xml

Co-authored-by: Robert Haschke <[email protected]>

This commit replaces the `chomp_config.yaml` injection method by a
simple template. This was done since the `chomp_config.yaml` file does
not contain any variables that need to be dynamically generated.

This commit makes sure that the STOMP planning config that is generated
using the MSA is general. The old version created the Panda Emika Franka
stomp config found in the
[panda_moveit_config](https:/ros-planning/panda_moveit_config/blob/noetic-devel/config/stomp_planning.yaml)
package.

…unch/stomp_planning_pipeline.launch.xml

Co-authored-by: Robert Haschke <[email protected]>