Update helena.rosinstall

rosinstalls/helena.rosinstall

 ###helena_sim.rosinstall
 ##################################
-###iri_core/
-- git:
-    local-name: iri_core/iri_action_server
-    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/iri_core/iri_action_server.git
-- git:
-    local-name: iri_core/iri_base_algorithm
-    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/iri_core/iri_base_algorithm.git
-    version: kinetic_migration
-- git:
-    local-name: iri_core/iri_base_driver
-    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/iri_core/iri_base_driver.git
-    version: kinetic_migration
-- git:
-    local-name: iri_core/iri_ros_tools
-    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/iri_core/iri_ros_tools.git
-    version: kinetic_migration
-##################################
 ###navigation/
 - git:
     local-name: navigation/iri_gazebo_worlds
@@ -64,18 +47,20 @@
 ##################################
 ###sensors
 - git:
-    local-name: sensors/ranger2d/iri_hokuyo_laser2d_bringup
-    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/ranger2d/iri_hokuyo_laser2d_bringup.git
+    local-name: sensors/ranger3d/iri_robosense_lidar_description
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/ranger3d/iri_robosense_lidar_description.git
+- git:
+    local-name: sensors/ranger3d/iri_robosense_lidar_bringup
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/ranger3d/iri_robosense_lidar_bringup.git
 - git:
-    local-name: sensors/ranger2d/iri_hokuyo_laser2d_description
-    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/ranger2d/iri_hokuyo_laser2d_description.git
+    local-name: sensors/depth_cameras/iri_realsense_depth_description
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/depth/iri_realsense_depth_description.git
 - git:
-    local-name: sensors/ranger2d/iri_laser2d_gazebo
-    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/ranger2d/iri_laser2d_gazebo.git
-
+    local-name: sensors/depth_cameras/iri_depth_camera_gazebo
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/depth/iri_depth_camera_gazebo.git
 ##################################
 ###external
 - git:
-    local-name: external/rosaria
-    uri: https://github.com/amor-ros-pkg/rosaria.git
-##################################
\ No newline at end of file
+    local-name: external/realsense-ros
+    uri: https://github.com/IntelRealSense/realsense-ros.git
+##################################