Rolling: Add OMPL config to moveit_cpp.yaml

[AndyZe]

It took me way too long to figure out why moveit_cpp was using the CHOMP planning pipeline. It's because ompl pipeline wasn't configured here, so MoveIt defaults to the first planning pipeline in the list.

(I've only tested this on Humble, hopefully it hasn't changed since then.)

[sea-bass]

Thanks, Andy! Unfortunately, it is different from Humble.

See for example the latest moveit_resources Panda config.

Specifically, notice the split of request_adapters and response_adapters, and that some of the adapters were renamed/removed.

Tagged @sjahr as his planning pipeline refactor from a little while back is what introduced this. moveit/moveit2#2429 and moveit/moveit2#2457

It may also be good to introduce something into this repo that actually tests the MoveItCpp pipeline modified here, because as far as CI is concerned, all is green.

[AndyZe]

I'll open a new PR to target Humble, and update this one per the new planning pipelines. Prob won't have time for a new test though.

Sad to think how many thousands of people probably tried moveit_cpp and just failed silently.

[sea-bass]

Sweet, thanks!