Backport of Fix place pose generation IK frame in MTC Tutorial (#727) to humble

[mergify]

This is an automatic backport of pull request #727 done by Mergify.
Cherry-pick of 35048cb has failed:

On branch mergify/bp/humble/pr-727
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Changes to be committed:
	modified:   doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst

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[sea-bass]

The htmlproofer link errors are related to servo updates and we'll handle those separately.

EDIT: Fixed in #738