Refactor robot arm and runtime initialization logic

- Updated error message in `rbs_arm.py` to use the complete joint names for improved clarity.
- Refactored `scene.py` to replace asynchronous parameter retrieval with synchronous methods for reliability and simplified implementation.
- Enhanced `runtime.launch.py`:
  - Added new launch arguments `use_rbs_utils` and `assembly_config_name`.
  - Included additional parameters in runtime node initialization.
  - Adjusted runtime node arguments for debugging and clarity.
- Updated `runtime.py`:
  - Introduced `MultiThreadedExecutor` for improved threading and node handling.
  - Refactored the `main` function for cleaner node lifecycle management.

env_manager/rbs_runtime/launch/runtime.launch.py

@@ -32,17 +32,16 @@ def launch_setup(context, *args, **kwargs):
     moveit_config_file = LaunchConfiguration("moveit_config_file")
     use_sim_time = LaunchConfiguration("use_sim_time")
     scene_config_file = LaunchConfiguration("scene_config_file").perform(context)
-
     ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
     base_link_name = LaunchConfiguration("base_link_name").perform(context)
-
     control_space = LaunchConfiguration("control_space").perform(context)
     control_strategy = LaunchConfiguration("control_strategy").perform(context)
-
     interactive = LaunchConfiguration("interactive").perform(context)
-
     real_robot = LaunchConfiguration("real_robot").perform(context)
 
+    use_rbs_utils = LaunchConfiguration("use_rbs_utils")
+    assembly_config_name = LaunchConfiguration("assembly_config_name")
+
     if not scene_config_file == "":
         config_file = {"config_file": scene_config_file}
     else:
@@ -152,6 +151,8 @@ def launch_setup(context, *args, **kwargs):
             "control_space": control_space,
             "control_strategy": control_strategy,
             "interactive_control": interactive,
+            "use_rbs_utils": use_rbs_utils,
+            "assembly_config_name": assembly_config_name
         }.items(),
     )
 
@@ -170,9 +171,7 @@ def launch_setup(context, *args, **kwargs):
     rbs_runtime = Node(
         package="rbs_runtime",
         executable="runtime",
-        output='log',
-        emulate_tty=True,
-        # arguments=[('log_level:=debug')],
+        arguments=[('--ros-args --remap log_level:=debug')],
         parameters=[robot_description, config_file, {"use_sim_time": True}],
     )
 
@@ -333,6 +332,23 @@ def generate_launch_description():
     )
 
 
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "use_rbs_utils",
+            default_value="true",
+            description="Wheter to use rbs_utils",
+        ),
+    )
+
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "assembly_config_name",
+            default_value="",
+            description="Assembly config name from rbs_assets_library",
+        ),
+    )
+
+
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]
     )