Add sensor config files for perception tutorial

https://ros-planning.github.io/moveit_tutorials/doc/perception_pipeline/perception_pipeline_tutorial.html?highlight=perception%20tutorial

config/sensors_kinect_depthmap.yaml

@@ -0,0 +1,11 @@
+sensors:
+  - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
+    image_topic: /camera/depth_registered/image_raw
+    queue_size: 5
+    near_clipping_plane_distance: 0.3
+    far_clipping_plane_distance: 5.0
+    shadow_threshold: 0.2
+    padding_scale: 4.0
+    padding_offset: 0.03
+    max_update_rate: 1.0
+    filtered_cloud_topic: filtered_cloud

config/sensors_kinect_pointcloud.yaml

@@ -0,0 +1,9 @@
+sensors:
+  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
+    point_cloud_topic: /camera/depth_registered/points
+    max_range: 5.0
+    point_subsample: 1
+    padding_offset: 0.1
+    padding_scale: 1.0
+    max_update_rate: 1.0
+    filtered_cloud_topic: filtered_cloud

launch/sensor_manager.launch.xml

@@ -3,10 +3,13 @@
   <!-- This file makes it easy to include the settings for sensor managers -->
 
   <!-- Params for 3D sensors config -->
-  <rosparam command="load" file="$(find panda_moveit_config)/config/sensors_3d.yaml" />
+  <arg name="sensor_type" default="pointcloud"/>
+  <rosparam if="$(eval arg('sensor_type')  == 'point_cloud')" command="load" file="$(find panda_moveit_config)/config/sensors_kinect_pointcloud.yaml" />
+  <rosparam unless="$(eval arg('sensor_type')  == 'point_cloud')" command="load" file="$(find panda_moveit_config)/config/sensors_kinect_depthmap.yaml" />
 
   <!-- Params for the octomap monitor -->
   <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
+  <param name="octomap_frame" type="string" value="camera_rgb_optical_frame" />
   <param name="octomap_resolution" type="double" value="0.025" />
   <param name="max_range" type="double" value="5.0" />