Added joint limits to rviz launch file. (backport #3091)

[mergify]

Rviz now loads the moveit joint limits, enabling cartesian planning from rviz.

Description

Addresses issue #2989 by having the rviz generator use the joint limits provided by the MoveItConfigsBuilder.
Currently, these joint limits are not added as parameters to rviz, which can break behavior such as cartesian path planning.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

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This is an automatic backport of pull request #3091 done by [Mergify](https://mergify.com).

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Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 42.27%. Comparing base (ed38b2d) to head (509b9fd).
Report is 1 commits behind head on humble.

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Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #3136      +/-   ##
==========================================
- Coverage   42.27%   42.27%   -0.00%     
==========================================
  Files         668      668              
  Lines       57740    57742       +2     
  Branches     7322     7322              
==========================================
  Hits        24403    24403              
- Misses      33152    33153       +1     
- Partials      185      186       +1     

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