Motion planning python api tutorial with Universal Robot

[Mennosytsma]

Description

For my projects I encountered the issue that a lot of the tutorials presented are not directly suitable to apply for a Universal Robot.
As discussed in other issues like #2014 and #3 there are more people that would like to use other robots with the moveit_py.
With the examples given in #2014 and #2483 I managed to get the tutorial also working for the Universal robots.
To get the tutorial functional with the original yaml that is provided for the Panda robot I added more planner configs in the launch file in a way proposed in #808

I have uploaded the code for a working tutorial with a UR5 here

Environment

• ROS Distro: [Rolling]
• OS Version: e.g. Ubuntu 22.04
• Source build moveit 09019d2

Question

I have tested the basic functionality of these launch files and hope that it is useful for other people as well, but is this suitable for a pull request/ is it okay to have a duplicated tutorial?

[sjahr]

@Mennosytsma Yes! Please create a PR with your proposed tutorial. If necessary we can reduce duplication throughout the review process

[tylerjw]

Please open a PR, that would be awesome!

[ozgur-kurt]

@Mennosytsma Could you help that how to integrate into UR ROS2 packages ?