Rename `planner` to pipeline in launch examples

[jschleicher]

Description

moveit#1397 shows, that the tutorials use planner for the planning pipeline while the setup assistant generates launch files using pipeline arguments. The tutorials should be updated to reflect the same names as in the setup_assistant launch files.

This should also update the panda_moveit_config package to be consistent with the tutorial page that references it.

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[davetcoleman]

Once your https://github.com/ros-planning/moveit/pull/1397 is merged in, please make this update @jschleicher

[jschleicher]

As said in #1397: I'm not a panda expert; updating the tutorials should also re-generate the panda_moveit_config. I'm not feeling confident about making this change.