get a pick and place demo working in ROS2

[mikeferguson]

Mainly collecting various issues/links here:

• simple_grasping is ported and working
• There is a moveit2 test that might have some useful stuff in it.
• https://moveit.picknik.ai/main/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.html