Launchfiles generated with moveit_configs_utils should accept arguments

[gtoff]

Is your feature request related to a problem? Please describe.

When using the MoveIt Setup Assistant to generate a *_move_it_config directory, python launchfiles make heavy usage of the moveit_configs_utils functions, and don't accept any argument.
This makes it extremely cumbersome to modify even small configuration details (e.g., adding "use_sim_time=True" as needed for moveit/moveit2_tutorials#587)

e.g. generated move_group.launch.py

from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_move_group_launch

def generate_launch_description():
    moveit_config = MoveItConfigsBuilder("my_robot", package_name="my_package").to_moveit_configs()
    ld = generate_move_group_launch(moveit_config)
    return ld

Since both moveit_configs_utils and moveit_configs_utils.launches come with the moveit installation, most users won't want to change them and would be left with rewriting launch files from scratch.

Describe the solution you'd like
Rather than creating launchfiles using the moveit_configs_utils libraries to generate launch descriptions, launchfiles created by the MoveIt Setup Assistant should contain the explicit launch descriptions so that they are easily configurable by end users.

Describe alternatives you've considered
An alternative could be simply to copy the moveit_configs_utils code in the generated move_it_config directory, so that at least launch description generation can be modified per robot instead of per "move_it" installation

Related Issues

#1909
#1811

[Danilrivero]

Hello,

Working with the built-in octomap feature we have had the same issue in which the octomap would not be visible unless we set the use_sim_time variable properly to False for move_group when working with the real robot.

Coming from #1811 the hotfix proposed here https://github.com/TheConstructAi/moveit2/blob/humble/moveit_configs_utils/moveit_configs_utils/launches.py#L232 does not look good for those working with the binaries.

Hopefully this can checked and considered since so many users have bumped into this, specially with the most common use_sim_time parameter which can affect to those working with simulation and real robot. The change proposed here #1909 looks good for the extra flexibility.

Cheers