add support for real robot mode in runtime launch

- Added a new `real_robot` launch argument with default set to "false".
- Updated `launch_setup` to handle `real_robot` configuration, allowing selective use of `rbs_robot_setup`.
- Updated `requirements.txt` to replace a static library reference with a GitHub repository link for `rbs_assets_library`.

env_manager/rbs_runtime/launch/runtime.launch.py

@@ -41,6 +41,8 @@ def launch_setup(context, *args, **kwargs):
 
     interactive = LaunchConfiguration("interactive").perform(context)
 
+    real_robot = LaunchConfiguration("real_robot").perform(context)
+
     if not scene_config_file == "":
         config_file = {"config_file": scene_config_file}
     else:
@@ -153,9 +155,15 @@ def launch_setup(context, *args, **kwargs):
         }.items(),
     )
 
+    if real_robot == "true":
+        return [rbs_robot_setup]
+
     rbs_runtime = Node(
         package="rbs_runtime",
         executable="runtime",
+        output='log',
+        emulate_tty=True,
+        # arguments=[('log_level:=debug')],
         parameters=[robot_description, config_file, {"use_sim_time": True}],
     )
 
@@ -307,6 +315,14 @@ def generate_launch_description():
             description="Wheter to run the motion_control_handle controller",
         ),
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "real_robot",
+            default_value="false",
+            description="Wheter to run on the real robot",
+        ),
+    )
+
 
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]