Is your feature request related to a problem? Please describe.
In manipulation demo LLM agent can use ros2 tools. Ros2 communication inside these tools is currently based on the RaiBaseNode or a custom solution. Most of the API has been already refactored to be based on the the base_connector.py and is implemented in Ros2ARIConnector.

Describe the solution you'd like

• replace RaiBaseNode dependency and custom ros2 code from tools and implement them using Ros2ARIConnector
• if some tools are not used anymore in other demo projects - remove them

Tools to be refactored are used here

• GetCameraImage can be replaced with GetROS2ImageTool
• Ros2GetTopicsNamesAndTypesTool with GetROS2TopicsNamesAndTypesTool
• MoveToPointTool will be refactored
• GetObjectPositionsTool will be refactored

Describe alternatives you've considered

• this is a refactor and current RaiBasedNode based implementation can be perceived as an alternative solution

Additional context