enhance skill server parameter handling and assembly service

- Unified `base_link` and `ee_link` parameter usage across launch files and skill server components.
- Improved synchronization in `mtjs_jtc` and `mtp_jtc` with a timeout mechanism for joint position updates, adding error handling when data is unavailable.
- Extended `AssemblyConfigService` to broadcast TF transforms for relative parts during initialization.
- Enhanced YAML parsing for `AssemblyConfigService` to handle missing orientations with default values.
- Updated `mtp_jtc_cart` to align parameter names with other skill server components.
- Added single-threaded executor to `AssemblyConfigService` for better lifecycle management.

rbs_skill_servers/launch/skills.launch.py

@@ -55,6 +55,8 @@ def launch_setup(context, *args, **kwargs):
                 parameters=[
                     {"use_sim_time": use_sim_time},
                     {"robot_name": namespace},
+                    {"base_link": base_link_name},
+                    {"ee_link": ee_link_name},
                     robot_description,
                 ],
             ),
@@ -66,7 +68,7 @@ def launch_setup(context, *args, **kwargs):
                     {"use_sim_time": use_sim_time},
                     {"robot_name": namespace},
                     {"base_link": base_link_name},
-                    {"robot_ee_link": ee_link_name},
+                    {"ee_link": ee_link_name},
                     robot_description,
                 ],
             ),
@@ -101,6 +103,7 @@ def launch_setup(context, *args, **kwargs):
         package="rbs_utils",
         executable="assembly_config_service.py",
         namespace=namespace,
+        parameters=[{"use_sim_time": use_sim_time}],
         output="screen",
     )