refactor: ros2 tools in manimulation demo

[boczekbartek]

Purpose

• Not all ros2 tools has bee refactored to use rai_core API

Proposed Changes

• [ ] refactor tools
• [ ] don't import manipulation tools in rai.tools.ros2 package to avoid circular import

Issues

resolves: https://github.com/RobotecAI/rai/issues/408

Testing

cd src/rai_extensions/rai_open_set_vision/
python scripts/run_vision_agents.py
# TODO