Stabilize ROS 2 Jazzy Gazebo and MoveIt workflow

[OguzhanKirik]

Summary

This PR improves the ROS 2 Jazzy simulation and planning workflow for RX1.

Main changes:

• stabilize Gazebo + MoveIt startup ordering
• make MoveIt wait for the simulated trajectory controller before starting
• preserve original URDFs and add optimized collision-model copies for simulation/planning
• improve Gazebo and RViz launch behavior
• update README with the current ROS 2 Jazzy workflow

Details

This work focuses on the ROS 2 / Jazzy path for:

• RViz robot visualization
• Gazebo simulation
• MoveIt planning and execution

The original model files are preserved. Optimized copies are used for the default simulation path to reduce collision-checking cost while keeping the visual meshes unchanged.

Notes

• This PR is developed from a ROS 2 Jazzy branch and is intended as ROS 2-focused work.
• Some RViz camera/image rendering behavior may still depend on local GPU/driver setup.
• The KDL root inertia warning is still present but does not block planning or execution.

Tested

Tested locally with:

• ros2 launch rx1_gazebo rx1_gazebo_rviz.launch.py
• ros2 launch rx1_moveit_config gazebo_demo.launch.py

Verified:

• robot appears in RViz
• Gazebo launches successfully
• MoveIt planning works
• MoveIt execution works with Gazebo after controller startup synchronization