feat(rbs): refactor controller paths and launch configuration

- Rename default controllers file `rbs_arm0_controllers.yaml` to `controllers.yaml` across all launch files
- Enhance `runtime.launch.py` by adding imports (`URDF_parser`, `ControllerManager`, `yaml`) and new arguments (`scene_config_file`, `ee_link_name`, `base_link_name`)
  - Implement xacro argument loading via YAML
  - Configure `robot_builder` to save controllers to `controllers.yaml` based on URDF parsing
- Add `control.launch.py` in `rbs_bringup` for dynamic controller spawning based on strategies/configurations
- Add `rbs_bringup.launch.py` as a unified entry point for single robot setup, initializing core settings like gripper, robot type, and controllers
- Remove `launch_env.launch.py`
- Remove `multi_robot.launch.py`
- Enhance `rbs_robot.launch.py` with `ee_link_name` and `base_link_name` arguments for end-effector and base link customization
- Add `ee_link_name` and `base_link_name` to `skills.launch.py` for flexible robot setup in skills
- Update `mtp_jtc_cart.cpp` with `base_link` and `robot_ee_link` parameters for KDL chain retrieval
- Remove `single_robot.launch.py` for simplified single robot deployment

rbs_bringup/launch/rbs_robot.launch.py

@@ -53,6 +53,8 @@ def launch_setup(context, *args, **kwargs):
     robot_description_semantic = LaunchConfiguration("robot_description_semantic")
     control_space = LaunchConfiguration("control_space")
     control_strategy = LaunchConfiguration("control_strategy")
+    ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
+    base_link_name = LaunchConfiguration("base_link_name").perform(context)
 
     remappings = []
     if multi_robot == "true":
@@ -141,7 +143,7 @@ def launch_setup(context, *args, **kwargs):
             [
                 PathJoinSubstitution(
                     [
-                        FindPackageShare(description_package),
+                        FindPackageShare("rbs_bringup"),
                         "launch",
                         "control.launch.py",
                     ]
@@ -202,6 +204,8 @@ def launch_setup(context, *args, **kwargs):
             "with_gripper_condition": with_gripper_condition,
             "namespace": namespace,
             "use_moveit": use_moveit,
+            "ee_link_name": ee_link_name,
+            "base_link_name": base_link_name,
         }.items(),
     )
 
@@ -221,14 +225,14 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "robot_type",
             description="Type of robot to launch, specified by name.",
-            choices=["rbs_arm", "ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
+            choices=["rbs_arm", "ar4", "ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
             default_value="rbs_arm",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
             "controllers_file",
-            default_value="rbs_arm0_controllers.yaml",
+            default_value="controllers.yaml",
             description="YAML file containing configuration settings for the controllers.",
         )
     )
@@ -397,6 +401,21 @@ def generate_launch_description():
             description="Custom semantic robot description (SRDF) to override the default.",
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "ee_link_name",
+            default_value="",
+            description="End effector name of robot arm",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "base_link_name",
+            default_value="",
+            description="Base link name if robot arm",
+        )
+    )
+
 
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]