Setup clean Waybionic foundation and placeholder arm

[Haroldmin1028]

Basic placeholder robot with a base box and moveable cylinder arm.

How to build:

• Run these commands in your workspace:

colcon build --packages-select waybionic_description waybionic_bringup
source install/setup.bash
ros2 launch waybionic_bringup display.launch.py

• RViz will pop up after the last command with two windows (one big one small)
• In RViz (big window):
  • In Global Options (left panel), next to Fixed Frame, type base_link
  • At the bottom left, click Add, scroll to and select RobotModel, click Add
  • Click the small triangle next to RobotModel to expand its settings, look for Description Topic setting, type robot_description next to it
  • Click Add again, scroll to and select TF, click Add
  • Use the Joint State Publisher GUI (small window) to move the arm by moving the slider

[richardnguyen165]

source /opt/ros/jazzy/setup.bash

Make sure to run this before the commands.

[Haroldmin1028]

Package metadata fixed
Renamed placeholder robot from waybionic.urdf to waybionic_placeholder.urdf
Launch arguments added to easily replace placeholder model with real model later
RViz now loads with settings automatically set

How to run:

colcon build --packages-select waybionic_description waybionic_bringup
source install/setup.bash
ros2 launch waybionic_bringup display.launch.py

[yassinsolim]

This still needs changes.

The WayBionic placeholder packages build and the URDF parses, but the PR does not actually debloat the repo yet. It adds waybionic_* packages while leaving all the old Annin/AR4 packages discoverable, so a normal colcon build still pulls in the old stack and fails in annin_ar4_driver.

Change requests:

• Remove or ignore the old Annin/AR4 packages and docs if this PR is meant to create the clean WayBionic foundation.
• Fix waybionic_bringup/launch/display.launch.py; it fails ament_flake8.
• Add missing runtime deps in waybionic_bringup/package.xml: ament_index_python, xacro, and waybionic_description.
• Update BuildInstructions.md; it still talks like RViz needs manual setup even though the RViz config is installed and loaded now.

Mac note: the actual launch failed here because RoboStack does not have joint_state_publisher_gui installed. Since the package declares that dependency, I would treat that as a local environment issue unless it also fails after rosdep install on Ubuntu/WSL2.

[yassinsolim]

The package cleanup looks good and the cleaned workspace builds successfully.

Please make one final cleanup pass by replacing the old AR4 root README and removing or updating the remaining Annin references in .vscode, docs, and docker. The current README still points to packages that were deleted.

After that, this is ready to approve.