[Panther + Franka] Fix Realsense for real robot.

[Jelmerdw]

Description

We fixed RealSense in simulation: #202

We still need to check the working with the real robot. Things we need to do:

• Launch the RealSense node using Register.
• Install new version of wrapper to support tf prefix
• Fix tf prefix with new version of wrapper
• Fix same topic names in simulation and real sensor
• Adapt tests, so that they also support real sensor
• Test Realsense on Franka
• Test Realsense on Panther