Port launch files to ROS 2 #40
Description
I'm adding this issue to track TODOs in the synced ros2 branch.
Currently, we are only using the description and config files from this package (MGI hasn't been ported yet). In the future, we want to support the same launch features but we probably have to redesign the structure a lot, at least if we are fully switching to Python launch files. Design discussions (see moveit/moveit2#146) should continue the next weeks as MoveGroup and MoveGroupInterface migration is making progress.