Add planning_adapters for chomp in setup assistant

[tnaka]

Description

CHOMPPlanner doesn't fill velocity, acc or time in a generated trajectory.
We need AddTimeParameterization to use this planner with ros_control (for gazebo simulation etc.).
I added the same planning adapters as in ompl_planning_pipeline.launch.xml.
As a reference moveit/panda_moveit_config#31 adds these planning adapters in chomp's launch file.

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
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[welcome]

Thanks for helping in improving MoveIt and open source robotics!

[codecov]

Codecov Report

Merging #2242 into master will increase coverage by 0.06%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master    #2242      +/-   ##
==========================================
+ Coverage   57.73%   57.79%   +0.06%     
==========================================
  Files         326      326              
  Lines       25629    25629              
==========================================
+ Hits        14797    14813      +16     
+ Misses      10832    10816      -16     

Impacted Files	Coverage Δ
...ipulation/pick_place/src/manipulation_pipeline.cpp	76.41% <0.00%> (-0.95%)	⬇️
moveit_core/robot_state/src/robot_state.cpp	47.10% <0.00%> (+0.09%)	⬆️
...raint_samplers/src/default_constraint_samplers.cpp	82.90% <0.00%> (+0.36%)	⬆️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	79.37% <0.00%> (+0.44%)	⬆️
...meterization/work_space/pose_model_state_space.cpp	82.99% <0.00%> (+0.68%)	⬆️
...on/pick_place/src/approach_and_translate_stage.cpp	73.60% <0.00%> (+0.79%)	⬆️
moveit_core/robot_model/src/joint_model_group.cpp	61.81% <0.00%> (+2.42%)	⬆️
...e/src/parameterization/model_based_state_space.cpp	75.17% <0.00%> (+2.75%)	⬆️

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[rhaschke]

LGTM. Thanks.

[v4hn]

Thanks. CI failure is independent. I'll merge.

[welcome]

Congrats on getting your first MoveIt pull request merged and improving open source robotics!