This was done since the `moveit_setup_assistant` currently doesn't propagate `xacro` arguments you supply to the `urdf.xacro` file (see [this issue](moveit/moveit#1691)). We need to manually add a way to enable or disable the gripper. This can be done by creating a `panda.srdf.xacro` file.

This commit makes sure that the camera configuration files, that are used in the [perception pipeline tutorial](https://ros-planning.github.io/moveit_tutorials/doc/perception_pipeline/perception_pipeline_tutorial.html?highlight=perception%20tutorial) are present in the configuration repository.

This commit adds the 'rviz_tutorial' argument to the 'demo.launch' file. This argument is needed for the [quickstart_in_rviz_tutorial](https://ros-planning.github.io/moveit_tutorials/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html).

This commit fixes a custom planner ns bug that was introduced by the `setup_assistant` (see moveit/moveit#2842).

This commit adds several missing package dependencies. These package dependencies were commented to prevent installing gazebo be default. It was merged to be consistent with the 'moveit_setup_assistant' (see moveit/moveit#2839).

This commit contains a fix for self-collisions that were introduced in https://github.com/frankaemika/franka_ros/releases/tag/0.8.0. Franka changed the collision goemetries from meshes to shapes. Since these geometries are too coarse some joints are now in self collision. This commit might be removed in the future if the issue is fixed in the upstream.

This commit adds the panda_control_moveit_rviz launch file. This file can be used to control a real robot using MoveIt.

This commit makes sure that all input arguments of the *_planning_pipeline.launch templates do have a default value.