add collision_monitor launch file

[fmessmer]

This launch file starts the collision_monitor node that publishes the state_valid topic based on MoveIt! planning scene that is used by cob_safety_controller to stop movements in case of collision.

We might want to add this launch file to all our robots (that use the cob_safety_controller package and have a valid cob_moveit_config)

Note that this introduces a dependency from cob_bringup to cob_manipulation, but I guess this is not a problem....as cob_manipulation is up-to-date and released...

This launch file might also later be used to add the cob_obstacle_distance_moveit node that replaces the component-specific cob_obstacle_distance nodes (see https://github.com/ipa320/cob_control/issues/101)

@ipa-mdl

[floweisshardt]

if this introduces a dependency to cob_manipulation, we should add cob_manipulation in the metapackage

[fmessmer]

no, dependencies are already specified accordingly in the package.xml

[fmessmer]

I decided to rename the launch file and already added them to the "affected" robots

[fmessmer]

mergin in order to allow @ipa-fxm-cm and @ipa-bfb a cleaner start for their contribution