Update MoveIt Task Constructor instruction (#953)

- Replaced `wstool` with direct `git clone` for fetching the MoveIt Task Constructor repository.
- Switched from `catkin build` to `colcon build --mixin release` for building the workspace.
- Updated launch commands to use ROS2's `ros2 launch` with the appropriate Python launch file.
- Updated launch commands for demos since individual launch files were replaced with common run.launch.py in the moveit/moveit_task_constructor repo.

doc/examples/moveit_task_constructor/moveit_task_constructor_tutorial.rst

@@ -1,8 +1,3 @@
-:moveit1:
-
-..
-   Once updated for MoveIt 2, remove all lines above title (including this comment and :moveit1: tag)
-
 MoveIt Task Constructor
 =======================
 
@@ -24,37 +19,33 @@ Installing MoveIt Task Constructor
 Install From Source
 ^^^^^^^^^^^^^^^^^^^
 
-Go into your catkin workspace and initialize wstool if necessary (assuming **~/ws_moveit** as workspace path): ::
+Move into your colcon workspace and pull the MoveIt Task Constructor source, where ``<branch>`` can be e.g. ``humble`` for ROS Humble, or ``ros2`` for the latest version compatible with MoveIt 2 ``main``: ::
 
   cd ~/ws_moveit/src
-  wstool init
-
-Clone MoveIt Task Constructor and source dependencies: ::
-
-  wstool merge https://raw.githubusercontent.com/ros-planning/moveit_task_constructor/master/.rosinstall
-  wstool update
+  git clone -b <branch> https://github.com/moveit/moveit_task_constructor.git
 
 Install missing packages with rosdep: ::
 
   rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO
 
 Build the workspace: ::
 
-  catkin build
+  cd ~/ws_moveit
+  colcon build --mixin release
 
 Running the Demo
 ----------------
 
 The MoveIt Task Constructor package contains several basic examples and a pick-and-place demo.
 For all demos you should launch the basic environment: ::
 
-  roslaunch moveit_task_constructor_demo demo.launch
+  ros2 launch moveit_task_constructor_demo demo.launch.py
 
 Subsequently, you can run the individual demos: ::
 
-  rosrun moveit_task_constructor_demo cartesian
-  rosrun moveit_task_constructor_demo modular
-  roslaunch moveit_task_constructor_demo pickplace.launch
+  ros2 launch moveit_task_constructor_demo run.launch.py exe:=cartesian
+  ros2 launch moveit_task_constructor_demo run.launch.py exe:=modular
+  ros2 launch moveit_task_constructor_demo run.launch.py exe:=pick_place_demo
 
 On the right side you should see the **Motion Planning Tasks** panel outlining the hierarchical stage structure of the tasks.
 When you select a particular stage, the list of successful and failed solutions will be