URDF and TF: Visualize the Navigation Base in RViz

Goal

Describe the chassis, LiDAR and camera with URDF/Xacro and validate the TF tree in RViz.

Procedure

1. Create base_link, wheel and sensor frames.
2. Publish robot state and static transforms.
3. Open RViz and add RobotModel and TF displays.
4. Correct axes and frame names before running navigation.

Verification

Record the command output, confirm the expected ROS 2 topic or behaviour, and resolve power, TF and device-permission errors before continuing.