refactor launch files for enhanced MoveIt integration and cleanup
- **RBS Bringup Launch File:**
- Enabled MoveIt by default (`use_moveit: true`).
- Removed unused arguments (`gripper_name`, `hardware`) for cleaner configuration.
- Updated `robot_description_kinematics` to use the new kinematics file path handling.
- **RBS Robot Launch File:**
- Streamlined robot description setup, removing unnecessary parameters like `gripper_name`, `hardware`, and pose arguments (`x`, `y`, `z`, `roll`, etc.).
- Updated robot description and semantic description to use launch configurations.
- Refactored kinematics file handling for clarity.
- **Skills Launch File:**
- Updated kinematics YAML loading to use `load_yaml_abs` for absolute path resolution.
- Standardized `robot_description`, `robot_description_semantic`, and `kinematics` parameters.
- **General Improvements:**
- Consolidated redundant logic across launch files.
- Improved maintainability by removing hardcoded and unused configurations.
Bill Finger
d0788041e9