changed planner for the simulation to match real Tiago setup

The planner that is (presumably) used on Tiago is not listed in PALs tiago_moveit_config of the local tiago_public_ws, so the gripping in Gazebo defaulted to a different planner than what is being used IRL.

@muellerd The Tiago laptop is running homer_tiago_moveit_config but the base might run a modified version of the tiago_moveit_config. I am not sure if these changes are actually documented anywhere, you could check if the version of tiago_moveit_config on the base also has the changes I made in this commit, if you have some time the next time you are in the lab. Thanks