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_skill_servers/launch/skills.launch.py

@@ -99,16 +99,7 @@ def launch_setup(context, *args, **kwargs):
         ],
     )
 
-    assembly_config = Node(
-        package="rbs_utils",
-        executable="assembly_config_service.py",
-        namespace=namespace,
-        parameters=[{"use_sim_time": use_sim_time}],
-        output="screen",
-    )
-
     nodes_to_start = [
-        assembly_config,
         skills_container,
     ]
     return nodes_to_start