bdaiinstitute / spot_ros2 / 7836365155

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[SW-670] Spot Description General Cleanup (#263)

## Change Overview

This PR cleans up a few minor broken features in the `spot_description` package and adds some more documentation to the README. 
* `urdf_viz.rviz` is an invalid ROS 2 rviz configuration file and was probably leftover from the ROS 1 implementation, so it was deleted. 
* `standalone_arm.xacro.urdf` was missing the lines that actually loaded the arm, so these were added in which makes the `standalone_arm.launch.py` launchfile functional. 
* Updated fixed frame to `base_link` in the default rviz configuration for viewing the spot urdf, so that the robot is visible in rviz upon launching without any tf/robot model errors. 
* compacted the `standalone_arm.launch.py` launchfile

A few related issues with ROS 1 leftovers in `spot_description` were also addressed in [this recently merged external PR](https://github.com/bdaiinstitute/spot_ros2/pull/231).

## Testing Done

- [x] Running `ros2 launch spot_description standalone_arm.launch.py` actually brings up the arm model

![image.png](https://graphite-user-uploaded-assets-prod.s3.amazonaws.com/Xynj6CBpA3NqqBFfE8Q9/d9820990-20bb-4db9-a46d-92cf5a18bc49.png)


- [x] Running `ros2 launch spot_description description.launch.py` makes the robot immediately visible in rviz thanks to the new default configuration

![image.png](https://graphite-user-uploaded-assets-prod.s3.amazonaws.com/Xynj6CBpA3NqqBFfE8Q9/eb030fd4-4e2c-48ad-81c0-2aaf74aa6fa6.png)


None of these changes affect anything related to `spot_driver` as they are used for purely visualization purposes, so no on-robot testing was needed.

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