Windows dev container GUI support + missing rover_urdf view.rviz

[jaydizz0]

Tested the dev container setup on Windows per Connor's request in discord. The
linux-lite-gui display args don't port over directly — Windows needs a
different mount path.

Why the Linux args don't work on Windows

/tmp/.X11-unix is a WSLg tmpfs inside the user's WSL distro. The Docker
daemon runs in the separate docker-desktop distro and resolves mount
sources against its own filesystem, where that path doesn't exist. Docker's
response to a missing mount source is to silently create an empty directory
and mount that — so the container gets /tmp/.X11-unix with no X0 socket
and no error anywhere.

Verified side by side:

docker run --rm -v /tmp/.X11-unix:/tmp/.X11-unix <img> ls /tmp/.X11-unix
  -> empty

docker run --rm -v /run/desktop/mnt/host/wslg/.X11-unix:/tmp/.X11-unix <img> ls /tmp/.X11-unix
  -> X0

/run/desktop/mnt/host/wslg is where Docker Desktop exposes the host's WSLg
socket inside its VM — reachable by the daemon.

Also ${localEnv:DISPLAY} resolves to 1 (not :0) from a Dev Containers
window, so it's hardcoded to :0. WSLg always serves :0.

.devcontainer/windows-gui/devcontainer.json is a copy of the existing
windows config plus those two runArgs. Device mounts are deliberately
omitted since those host paths don't exist on Windows.

Second commit: missing view.rviz

Unrelated, happy to split into its own PR if preferred.

rover_urdf/launch/launch.py defaults rviz_config_file to
share/rover_urdf/rviz/view.rviz, but that file has never existed in the
repo. setup.py globs rviz/*, which returns an empty list and silently
installs nothing — so RViz gets a path to a nonexistent file and falls back
to its built-in defaults (Fixed Frame map, which nothing publishes without
Nav2, and no RobotModel display). use_rviz:=True has always opened to a
blank grid with a frame error.

Adds the config with Fixed Frame base_link and RobotModel on
/robot_description. setup.py already had the install rule.

Testing

Windows 11 + WSL2 + Docker Desktop, RTX 5060. RViz reports
OpenGl version: 4.5 (GLSL 4.5) and renders the rover URDF at ~31fps with
joint_state_publisher_gui driving the arm. No external X server (no VcXsrv).

Opened from a fork — I don't have push access to CPRT/rover.

[codeflight1]

We already have a moveit.rviz in the arm_control package, could you update the urdf launch file to point at that config instead of adding a new one?

[codeflight1]

It looks like this was copied from an old version of the windows config, we now use ROS jazzy and the user is ubuntu.