Backport of Pilz examples and update to ROS2 (#548) to humble

[mergify]

This is an automatic backport of pull request #548 done by Mergify.
Cherry-pick of 7498cc2 has failed:

On branch mergify/bp/humble/pr-548
Your branch is up to date with 'origin/humble'.

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  (fix conflicts and run "git cherry-pick --continue")
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  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	new file:   doc/examples/pilz_industrial_motion_planner/CMakeLists.txt
	new file:   doc/examples/pilz_industrial_motion_planner/launch/pilz_mtc.launch.py
	modified:   doc/examples/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst
	modified:   doc/examples/pilz_industrial_motion_planner/rviz_planner.png
	new file:   doc/examples/pilz_industrial_motion_planner/src/pilz_move_group.cpp
	new file:   doc/examples/pilz_industrial_motion_planner/src/pilz_mtc.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   CMakeLists.txt

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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