adding sphinx information for planning pipeline and motion planning interface tutorials
moving .rst files so their names match tutorial names, renaming cpp files to better reflect tutorials
adding a tutorial for the planning scene ros api using diffs
adding move group interface tutorial and sphinx docs
adding cartesian path into tutorial
adding kinematics and perception configuration
adding controller configuration tutorial
fixing expected results
Merge pull request #36 from ros-planning/sphinx_docs

Sphinx docs for tutorials