Add moveitcpp planning pipeline config (#1040)

Author: AndyZe

doc/examples/moveit_cpp/config/moveit_cpp.yaml

@@ -10,6 +10,22 @@ planning_scene_monitor_options:
 planning_pipelines:
   #namespace: "moveit_cpp"  # optional, default is ~
   pipeline_names: ["ompl"]
+ompl:
+  planning_plugin: ompl_interface/OMPLPlanner
+  request_adapters: >-
+    default_planner_request_adapters/AddTimeOptimalParameterization
+    default_planner_request_adapters/FixWorkspaceBounds
+    default_planner_request_adapters/FixStartStateBounds
+    default_planner_request_adapters/FixStartStateCollision
+    default_planner_request_adapters/FixStartStatePathConstraints
+  planner_configs:
+    PRMstarkConfigDefault:
+      type: geometric::PRMstar
+  # Define planner(s) for each move_group
+  panda_arm:
+    planner_configs:
+      - PRMstarkConfigDefault
+  # Add additional planning pipeline config here
 
 plan_request_params:
   planning_attempts: 1