TEMP: configure required upstream and downstream dependencies

- moveit/srdfdom#97
  extending the syntax of SRDF to specify these defaults (and exceptions)

- frankaemika/franka_ros#188
- moveit#2938
  allowing collision checking to be disabled by default for specific links

.github/workflows/downstream.rosinstall

@@ -10,7 +10,11 @@
     local-name: moveit_tutorials
     uri: https://github.com/ros-planning/moveit_tutorials.git
     version: master
+- git:
+    local-name: franka_ros
+    uri: https://github.com/rhaschke/franka_ros
+    version: develop
 - git:
     local-name: panda_moveit_config
-    uri: https://github.com/ros-planning/panda_moveit_config.git
-    version: melodic-devel
+    uri: https://github.com/rhaschke/panda_moveit_config.git
+    version: rework-coarse-hand-collisions

.github/workflows/upstream.rosinstall

@@ -6,3 +6,7 @@
     local-name: geometric_shapes
     uri: https://github.com/ros-planning/geometric_shapes.git
     version: noetic-devel
+- git:
+    local-name: srdfdom
+    uri: https://github.com/ubi-agni/srdfdom
+    version: rework-acm-defaults