Dual arm humble

[MyLovelyAxe]

The original humble branch didn't have a dual-arm moveit config package. This branch dual_arm_humble was checkout from branch ros2, and adjusted as following, i.e.:

• previously it only controlled arms, now added grippers as well
• had typos and setup issues in ompl_panning.yaml, making it failed to request initial scenes and failed to load ompl planning parameters
• add mimic hardware config for grippers in panda_hand.ros2_control.xacro

The adjusted version is tested on humble.