Test and add examples of Pilz motion planner usage on ROS Noetic / MoveIt

[gonzalocasas]

This tasks involves:

• Testing whether it works as we expect
• Adding new message types required
• Making sure ROS Noetic containers are available
• Adding documentation and examples on how to use it

[matteo-pacher]

what does this MoveIt merge moveit/moveit#1893 mean for this is issue?

[gonzalocasas]

We considered directly integrating Pilz planner but if it's already in MoveIt, it might mean we have less to do.