[FEATURE] How to add a new planner tutorial

I noticed that several new OMPL planners are still not available in MoveIt [here](https://github.com/ros-planning/moveit/blob/master/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp#L266), especially from AO planners only three exist
I think we should
A) make a PR to MoveIt adding new planners such as AIT* and BIT* and
B) Add some scripts and documentation to show examples of adding a new OMPL (or not) planners in robowflex. For example using the access to simple setup.