Rviz for robot_description

[schromya]

Requirements

• Make ros package to display urdfs in RVIZ (urdf configurable). Set it up so it listens to joint state topic (topic name configurable).

Files to Create/Edit

• ros package in libs/robot_description/ros/src/robot_description with config/launch file needed to show rviz
• Updated readme in libs/robot_description

Acceptance Criteria

• Readme describes how to launch rviz with urdf (like bimanual system) and publish joints so it updates.

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Response Template

### Ready for Review
**PR Link**: [link here]

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[chessreferee]

Ready for Review

PR Link: #72 (comment)