No, If you actually withdraw your contributions, they may even freeze your CESG grants for the next two years (not give you matching funds for 2 years as a penalty for withdrawing contributions from the "RESP Registered Bubble"), and charge you tax an penalty on the accumulated income.. Do not close / withdraw as cash. Keep the royal bank one and stop contributing to it or pay the transfer costs.
Is it $150 even if you sell and they only transfer it as cash? There are often different fees for - closing account -- transfers in kind -- transfers in cash. Maybe they would charge you less if you transfer most of the value, in cash, but keep a minimum there to keep it open for now. $150 looks like a standard fee to cancel a RRSP registered account.
Also, watch out if you received any provincial RESP monies or Canada Learning Bonds when transferring. e.g., BC now has a small amount for kids born after 2007; Not all banks will manage / handle these extra amounts so if you try to transfer to a bank that does not deal with them, then you lose them.
TD was one of the ones that did not do the paperwork for Alberta Baby Bonus or the Canada Learning Bond (a grant for low income education money) in RESP's.... so it is not just small institutions that don't do common paperwork things.