Backport of Migrate CHOMP and collision tutorials from ROS1 (#492) to humble

[mergify]

This is an automatic backport of pull request #492 done by Mergify.
Cherry-pick of 725c7d8 has failed:

On branch mergify/bp/humble/pr-492
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit 725c7d8.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   doc/examples/collision_environments/CMakeLists.txt
	deleted:    doc/examples/collision_environments/scripts/collision_scene_example.py
	new file:   doc/examples/collision_environments/src/collision_scene_example.cpp
	modified:   doc/examples/examples.rst
	new file:   doc/how_to_guides/chomp_planner/CMakeLists.txt
	renamed:    doc/examples/chomp_planner/chomp.png -> doc/how_to_guides/chomp_planner/chomp.png
	new file:   doc/how_to_guides/chomp_planner/chomp_planner_tutorial.rst
	new file:   doc/how_to_guides/chomp_planner/config/moveit_chomp.rviz
	new file:   doc/how_to_guides/chomp_planner/launch/chomp_demo.launch.py

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	both modified:   CMakeLists.txt
	deleted by them: doc/examples/chomp_planner/chomp_planner_tutorial.rst
	both modified:   doc/examples/planning_adapters/planning_adapters_tutorial.rst
	both modified:   doc/how_to_guides/how_to_guides.rst

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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