[MSA] Generate More New Launch Files

[DLu]

Description

Generate new launch files to reflect the new macro-launch files available via #1176, #1131 and #1189.

As a result we no longer need the VIRTUAL_JOINT_BROADCASTER variable or a bunch of the old xml templates.

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

[mergify]

Please target the main branch for development, we will backport the changes to feature/msa for you if approved and if they don't break API.

[codecov]

Codecov Report

Merging #1213 (d66fc10) into feature/msa (9a8e005) will decrease coverage by 1.23%.
The diff coverage is n/a.

@@               Coverage Diff               @@
##           feature/msa    #1213      +/-   ##
===============================================
- Coverage        61.02%   59.80%   -1.22%     
===============================================
  Files              275      275              
  Lines            23761    23761              
===============================================
- Hits             14498    14207     -291     
- Misses            9263     9554     +291     

Impacted Files	Coverage Δ
.../moveit_servo/include/moveit_servo/pose_tracking.h	0.00% <0.00%> (-100.00%)	⬇️
...servo/include/moveit_servo/make_shared_from_pool.h	0.00% <0.00%> (-100.00%)	⬇️
moveit_ros/moveit_servo/src/pose_tracking.cpp	0.00% <0.00%> (-77.00%)	⬇️
...eit/planning_scene_monitor/current_state_monitor.h	77.78% <0.00%> (-22.22%)	⬇️
...anning_scene_monitor/src/current_state_monitor.cpp	54.15% <0.00%> (-21.83%)	⬇️
moveit_ros/moveit_servo/src/servo.cpp	58.63% <0.00%> (-13.79%)	⬇️
moveit_ros/moveit_servo/src/collision_check.cpp	78.69% <0.00%> (-6.55%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	40.74% <0.00%> (-6.37%)	⬇️
...or/src/current_state_monitor_middleware_handle.cpp	82.36% <0.00%> (-5.88%)	⬇️
moveit_ros/moveit_servo/src/servo_calcs.cpp	65.67% <0.00%> (-2.47%)	⬇️
... and 5 more

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