Add dependency on moveit_configs_utils to moveit_setup_assistant

[hacker1024]

Description

moveit_setup_assistant attempts to import moveit_configs_utils in its launch file, but does not declare it in its package.xml.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
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