I would like the rviz plugins to consume the `/robot_description` topic

[Timple]

Is your feature request related to a problem? Please describe.

ROS 2 pattern: robot_description is a topic.

Runnnig moveit from a remote pc doesn't make it easy to have the parameter available.

Describe the solution you'd like

Get robot_description from a topic just like the robotmodel does.

Describe alternatives you've considered

Scripting around it.

Additional context

No response