Perception tutorial missing some updates merged in (moveit1's) moveit_tutorials

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Description

Overview of your issue here.

For perception tutorial, I manually confirmed that the changes in these PRs are not included in moveit2_tutorials.

• Improve chomp_planner_tutorial text and formatting moveit_tutorials#609,
• correct explanation of padding parameters moveit_tutorials#627,
• Improve perception tutorial moveit_tutorials#633,
• Description of ns parameter in yaml config moveit_tutorials#672

Expected behaviour

• I do not know if all the changes in the listed PRs are absolute necessity in ros2, esp. the perception tutorial hasn't yet been ported to ros2 (tracked in Perception pipeline tutorial uses ROS1 in ROS2 (Humble) documentation #583).
  • Which I'm trying to address in ros2-ify perception pipeline #700, including testing the changes in the listed PRs

[130s]

In #700 I manually cherry-picked the changes from the PRs listed in #708.

• Changes from each PR is committed separately for the better visibility.
• Initially I tried to git cherry-pick those changes, but some PRs included changes outside of perception tutorial, which is not my scope of the PR, so I gave up and went ahead manually applying changes.

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Resolution to this is now ready for review in #700

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Closing as I think #906 addresses this.

[130s]

Sorry I closed a wrong ticket. Reopening.