feat: improve behavior tree executor and dependency management

- **CMakeLists.txt**:
  - Commented out the unused `rbs_env_manager_starter` library.
- **Behavior Trees**:
  - Added new `grasp_object.xml` behavior tree for grasping operations.
  - Modified `test_tree.xml` to update `robot_name` in the `WorkspaceMovement` subtree.
- **Source Code Updates**:
  - Removed `EnvManager.cpp`, deprecating its functionality.
  - Formatting `GetWorkspace.cpp`
  - Formatting `MoveGripper.cpp`
  - Formatting `MoveToJointStates.cpp`
  - Formatting `PoseEstimation.cpp` and `TreeRunner.cpp`
- **Assembly Config Service**:
  - Added broadcasting for grasp pose transformations in `assembly_config_service.py`.

These updates enhance modularity, maintainability, and the overall functionality of the behavior tree executor.

rbs_bt_executor/src/MoveToPose.cpp

@@ -10,7 +10,7 @@ using MoveitSendPoseAction = rbs_skill_interfaces::action::MoveitSendPose;
 class MoveToPose : public RosActionNode<MoveitSendPoseAction> {
 public:
   MoveToPose(const std::string &name, const NodeConfig &conf,
-                 const RosNodeParams &params)
+             const RosNodeParams &params)
       : RosActionNode<MoveitSendPoseAction>(name, conf, params) {}
 
   static BT::PortsList providedPorts() {
@@ -19,20 +19,19 @@ public:
          BT::InputPort<std::shared_ptr<geometry_msgs::msg::Pose>>("pose")});
   }
 
-  bool setGoal(RosActionNode::Goal& goal) override {
+  bool setGoal(RosActionNode::Goal &goal) override {
     getInput("robot_name", goal.robot_name);
     getInput("pose", goal.target_pose);
     goal.duration = 2.0;
     return true;
   }
 
-  NodeStatus onResultReceived(const WrappedResult& wr) override {
+  NodeStatus onResultReceived(const WrappedResult &wr) override {
     if (!wr.result->success) {
       return NodeStatus::FAILURE;
     }
     return NodeStatus::SUCCESS;
   }
-    
 };
 
 CreateRosNodePlugin(MoveToPose, "MoveToPose");