refactor(launch): update launch configuration for real_robot and cleanup

- Add controller manager node when `real_robot` flag is set
- Remove unused Open3D dependency

env_manager/rbs_runtime/launch/runtime.launch.py

@@ -52,7 +52,7 @@ def launch_setup(context, *args, **kwargs):
         description_package.perform(context)
     )
 
-    simulation_controllers = os.path.join(
+    controllers_file = os.path.join(
         description_package_abs_path, "config", "controllers.yaml"
     )
 
@@ -135,7 +135,7 @@ def launch_setup(context, *args, **kwargs):
         ),
         launch_arguments={
             "with_gripper": with_gripper_condition,
-            "controllers_file": simulation_controllers,
+            "controllers_file": controllers_file,
             "robot_type": robot_type,
             "description_package": description_package,
             "description_file": description_file,
@@ -156,7 +156,16 @@ def launch_setup(context, *args, **kwargs):
     )
 
     if real_robot == "true":
-        return [rbs_robot_setup]
+        controller_manager_node = Node(
+            package="controller_manager",
+            executable="ros2_control_node",
+            parameters=[
+                robot_description,
+                controllers_file,
+            ],
+            output="screen",
+        )
+        return [rbs_robot_setup, controller_manager_node]
 
     rbs_runtime = Node(
         package="rbs_runtime",