Clean up move_group and moveit_cpp tutorials

[MarqRazz]

Description

• Added panda_hand_controller to the loaded controllers in launch files
• switched joint_state_controller to joint_state_broadcaster
• updated visual_tools text to snake case for better readability
• added collision object example to moveit_cpp tutorial (I am planning on making a PR to remove the demo code from moveit2)

Checklist

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[vatanaksoytezer]

@MarqRazz thanks for the PR! I am not sure if we should move to joint_state_broadcaster just before the release today. Maybe we can discuss this change on next moveit standup on when and how to do it.

Rest looks fine and the additional plan is nice! I left a few small nitpicks below. I cannot run this tutorial now correctly, suffering from moveit/moveit2#522. We should at least wait for the fix to get merged in moveit2 before merging this.

[vatanaksoytezer]

Turns out I cannot run because of joint_state_broadcaster is not registered in moveit_resources.

[vatanaksoytezer]

I think that enormous space is a RVT bug in ROS2. For now I think this is mergable but I think we should look further into it. I suggest we look into it, I will open an issue on this to track progress on this on RVT repo. I run the tutorials without any problems with the latest version of moveit2. Thanks @MarqRazz !