publish robot description config

[tylerjw]

• Add options to config for publishing description
• Fix clang-format-12 errors

This fix adds support to moveit_config_utils for the two parameters that determine if the robot description is published on a latched topic. This is useful for reducing the amount of boilerplate in launch files and in some cases making so some launch files don't need to be written at all.

This change is necesary for keeping the tutorials I am writing simple.

I also included two changes from running clang-format-12 over moveit in this. I've tested this change on 22.04 on Rolling.

Description

Please explain the changes you made, including a reference to the related issue if applicable

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference

[tylerjw]

I don't understand how this is failing clang-format as I am using clang-format-12 locally. I will drop the commit that makes the changes that clang-format is complaining about.

[codecov]

Codecov Report

Merging #1265 (960acdc) into main (11d83b7) will not change coverage.
The diff coverage is n/a.

❗ Current head 960acdc differs from pull request most recent head c080f3e. Consider uploading reports for the commit c080f3e to get more accurate results

@@           Coverage Diff           @@
##             main    #1265   +/-   ##
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  Coverage   61.44%   61.44%           
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  Files         274      274           
  Lines       24936    24936           
=======================================
  Hits        15319    15319           
  Misses       9617     9617           

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[DLu]

This broke the MSA demo. Can you show me the tutorial?