Add assembly configuration integration and refactor launches

- **Added support for assembly configuration in `rbs_bringup` and `rbs_robot` launches**:
  - Introduced new launch arguments: `use_rbs_utils` and `assembly_config_name`.
  - Integrated `rbs_utils`'s `utils.launch.py` for handling assembly configurations.
- **Simplified `skills.launch.py`**:
  - Removed redundant `assembly_config` node setup.
- **Enhanced `rbs_utils`**:
  - Added installation of `launch` files in `CMakeLists.txt`.
  - Created a new `utils.launch.py` for dynamically loading assembly configurations.
  - Refactored `assembly_config_service.py` to utilize `get_asm_config` for streamlined configuration file resolution.
- Improved `rbs_bringup` setup to include additional parameters and nodes for assembly configuration.

These changes centralize assembly configuration handling and enhance modularity across launch setups.

rbs_bringup/launch/rbs_robot.launch.py

@@ -48,6 +48,9 @@ def launch_setup(context, *args, **kwargs):
     ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
     base_link_name = LaunchConfiguration("base_link_name").perform(context)
 
+    use_rbs_utils = LaunchConfiguration("use_sim_time")
+    assembly_config_name = LaunchConfiguration("assembly_config_name")
+
     remappings = []
     if multi_robot == "true":
         remappings.append([("/tf", "tf"), ("/tf_static", "tf_static")])
@@ -148,11 +151,33 @@ def launch_setup(context, *args, **kwargs):
         condition=IfCondition(use_skills),
     )
 
+
+    # assembly config loader
+    utils = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("rbs_utils"),
+                        "launch",
+                        "utils.launch.py",
+                    ]
+                )
+            ]
+        ),
+        launch_arguments={
+            "use_sim_time": use_sim_time,
+            "assembly_config_name": assembly_config_name
+        }.items(),
+        condition=IfCondition(use_rbs_utils),
+    )
+
     nodes_to_start = [
         robot_state_publisher,
         control,
         moveit,
         skills,
+        utils,
     ]
     return nodes_to_start
 
@@ -364,6 +389,20 @@ def generate_launch_description():
             description="Base link name if robot arm",
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "assembly_config_name",
+            default_value="",
+            description="Assembly config name",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "use_rbs_utils",
+            default_value="true",
+            description="Whwther use utils",
+        )
+    )
 
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]