fix: apply upstream changes to 'setup_assistant_tutorial' tutorial

[rickstaa]

This pull request makes sure that all the upstream changes in the moveit MSA and the franka_ros package are applied to the tutorial.

TODOS

• [x] Update section order to new order of the MSA.
• [x] Update text to adhere to franka_ros v0.8.1.
• [ ] Update screenshots (using the ready pose).
• [ ] Update simulation section if https://github.com/ros-planning/moveit/pull/2960 is merged.
• [ ] Discuss the coarse and detailed collision models.

[rickstaa]

I reviewed your changes and the text is now more clear. I will re-run the moveit_setup_assistant to check if all the MSA changes work.

Finally, I don't like the default robot pose of the Panda, which very much hides the hand. I suggest taking screenshots using the ready pose instead - as soon as it is defined.

I also noticed that but I included the screenshots like this since this is what the user sees when he walks through the process. I however can easily change them using the ready pose.

[rhaschke]

That's true. But, I think for a tutorial it is confusing if the hand is never visible but the tutorial talks about it. When interacting with the rviz display in MSA, the user can easily make the hand visible also in the default pose.

Showing such a view, as I did, will also provide an additional cue to the user, that she is able to change that view herself. Maybe, an explicit comment would be helpful anyway.

[rickstaa]

I updated some of the screenshots. I will do the rest when https://github.com/frankaemika/franka_ros/pull/194#issuecomment-964131714 is fixed.

We can use https://github.com/rickstaa/msa_panda_config_output to get back to the MSA that was used.