Add generic WayBionic RViz2 diagnostics foundation package

[khuzaymahbinharis-jpg]

Review Screenshots

These images are included only to help reviewers see the UI quickly. They are not part of the runtime package behavior.

Engineer view — mock normal	Engineer view — mock fault

Summary

This PR makes waybionic_rviz_plugins a focused WayBionic RViz2 diagnostics package. It keeps the engineer monitoring panel, mock/live diagnostics switching, and a temporary /diagnostics publisher for local validation.

Camera/doctor placeholder work was removed from this PR and will be handled separately later.

Primary Launch Commands

colcon build --packages-select waybionic_rviz_plugins --symlink-install
source install/setup.bash
ros2 launch waybionic_rviz_plugins engineer_view.launch.py

Mock diagnostics (default):

ros2 launch waybionic_rviz_plugins engineer_view.launch.py use_mock_diagnostics:=true

Live diagnostics:

ros2 launch waybionic_rviz_plugins engineer_view.launch.py use_mock_diagnostics:=false diagnostics_topic:=/diagnostics

Temporary backend/demo publisher:

ros2 launch waybionic_rviz_plugins temporary_diagnostics_publisher.launch.py
ros2 launch waybionic_rviz_plugins temporary_diagnostics_publisher.launch.py mode:=cycle

What Works

• Engineer RViz view with the WayBionic Diagnostics panel.
• Mock normal and fault validation states.
• Alert banner/table rendering from normalized DiagnosticMessage rows.
• Live diagnostics source path that subscribes to a diagnostic_msgs/msg/DiagnosticArray topic.
• Temporary /diagnostics publisher with normal, fault, stale, and cycle modes.
• Package metadata and lint/test wiring via colcon test.
• Only DiagnosticsPanel is registered in plugin_description.xml.

Testing Performed

source /opt/ros/jazzy/setup.bash
colcon build --packages-select waybionic_rviz_plugins --symlink-install
source install/setup.bash
colcon test --packages-select waybionic_rviz_plugins
colcon test-result --verbose
ros2 launch waybionic_rviz_plugins engineer_view.launch.py --show-args
ros2 launch waybionic_rviz_plugins temporary_diagnostics_publisher.launch.py --show-args

Results: build passed; 11 tests, 0 failures; launch argument checks passed; temporary publisher smoke test passed. GUI RViz validation should be re-run locally before final merge if required.

Known Limitations

• Meaningful live rows still depend on stable backend publishing once Korede is available.
• Stale handling is currently a simple five-second freshness check.
• The UI is monitoring-only and does not send motor commands.
• Camera/doctor workflow is out of scope for this PR.

Test plan

• Build waybionic_rviz_plugins on ROS 2 Jazzy
• Run colcon test --packages-select waybionic_rviz_plugins
• Launch engineer_view.launch.py and verify mock normal/fault states
• Launch temporary publisher in cycle mode with use_mock_diagnostics:=false
• Optional: launch engineer_ar4_demo.launch.py in an AR4-enabled workspace

[yassinsolim]

This needs changes before merge.

The core RViz plugin package builds, and the RViz launch files resolve/start without plugin load errors in local smoke testing. The issue is scope and cleanup.

Change requests:

• Remove the surgeon/doctor camera placeholder work. The surgeon feed should probably be a separate low-latency app or VR workflow, not an RViz placeholder panel.
• Remove SurgeonCameraPanel, the plugin registration for it, the doctor/camera RViz config, and related docs/screenshots.
• Replace the placeholder maintainer info in waybionic_rviz_plugins/package.xml.
• Add real lint/test wiring. Right now colcon test --packages-select waybionic_rviz_plugins runs zero tests.

Mac note: RViz crashed on shutdown in RoboStack, but the plugin loaded and the views came up. I would not treat that shutdown crash as a PR blocker unless it also happens on Ubuntu/WSL2.

[yassinsolim]

Please fix these before we merge:

• Make temporary_diagnostics_publisher.py executable so it works with --symlink-install.
• Fix live diagnostics mode because use_mock_diagnostics:=false is currently overridden by the RViz config.
• Remove the archived camera placeholder app.
• Remove the optional AR4/Annin demo helper files so the repository stays clean after PR Setup clean Waybionic foundation and placeholder arm #1 is merged.