dsh-ros2 v0.8.1

Fixes

• RViz2 offscreen render: meshes piled at origin — the URDF published to RobotModel had _link-suffixed link names that did not match the live TF frame names, so every link transform lookup failed and all meshes rendered at the fixed-frame origin. Fix: publish the robot's actual /robot_description (link names == TF frames) with file:// mesh paths.
• Removed a self-built rclcpp::spin(raw_node) thread that crashed with "node already added to an executor" (VisualizationManager already spins its internal executor in onUpdate()).
• Added FrameManager diagnostics (transformer id, frame names, transformHasProblems) to the render node log.

Changed

• Orbit camera Distance ≈ 1.5–2.0 m for an RViz-like close robot view.
• robot-state-vision-analysis skill updated with Jazzy Description Source/Topic, URDF↔TF frame-name matching, file:// mesh paths, camera distance and the FM frames diagnostic.
• Docs: architecture.md §4.4, robot-state-vision-test.md §6; refreshed docs/images/robot_mesh_full.jpg with the verified render.