Change to have acceleration limit and update OMPL configuration format #88
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Update ompl_planning.
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Setting joint acceleration limits based on:
https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_tutorials/my_robot_cell/doc/build_moveit_config.html#manual-adaptions
#73
Setting OMPL based on:
https://moveit.picknik.ai/main/api/html/md_MIGRATION.html
#73
Closes #73 after #87.