chore(config): make sample configs Keystone templates

[Nauyix]

Pull Request Checklist

Please ensure your PR meets the following requirements:

• Code follows the style guidelines (N/A: config/docs only)
• Tests pass locally (make test or make docker-test) (targeted tests passed; full gate not run)
• Code is formatted (make format) (N/A: config/docs only)
• Documentation updated if needed
• Commit messages follow conventional commits
• PR description is complete and clear

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Summary

This PR makes the repository recorder and transfer samples usable as Keystone recorder.yaml and transfer.yaml templates for axon_config register. It replaces runtime identity and WebSocket endpoints with supported register placeholders while keeping ROS1/ROS2 topic lists as the robot-specific adaptation surface.

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Motivation

• Robot-type adaptation currently starts from the Axon sample configs, but those samples were not aligned with the placeholder rendering performed by axon_config register.
• Keystone-managed deployments need samples that can be uploaded as templates and rendered after device registration without hand-editing device identity or fleet WebSocket URLs.

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Changes

Modified Files

• apps/axon_recorder/config/default_config_ros1.yaml - Treat the ROS1 sample as a Keystone recorder.yaml template, default RPC mode to ws_client, and render rpc.ws_client.url from {{ recorder_rpc_url }}.
• apps/axon_recorder/config/default_config_ros2.yaml - Apply the same Keystone template behavior to the ROS2 sample.
• apps/axon_transfer/config/transfer_config.yaml - Render device_id, factory_id, and the transfer WebSocket base URL from registration placeholders.
• apps/axon_config/README.md - Document which repository samples can be uploaded to Keystone and which fields are filled by registration.
• apps/axon_recorder/config/README.md - Document the Keystone template workflow and local-only override requirements.
• apps/axon_transfer/README.md - Document the transfer sample as a Keystone-ready template.

Added Files

None

Deleted Files

None

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Type of Change

• Bug fix (non-breaking change that fixes an issue)
• New feature (non-breaking change that adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)
• Documentation update (documentation changes only)
• Refactoring (code improvement without functional changes)
• Performance improvement (code changes that improve performance)
• Test changes (adding, modifying, or removing tests)

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Impact Analysis

Breaking Changes

None expected for the Keystone registration workflow.

Backward Compatibility

The ROS1/ROS2 sample configs now default to Keystone WebSocket client mode and contain {{ recorder_rpc_url }} until rendered. Local-only users who run these sample files directly should either render/replace the placeholder URL or switch rpc.mode back to http_server, as documented in the recorder config README.

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Testing

Test Environment

• ROS Distribution: N/A for targeted config/register tests
• OS: local Axon development checkout
• Build Type: existing local build artifacts

Test Cases

• Unit tests pass locally
• Integration tests pass locally
• E2E tests pass (if applicable)
• Manual testing completed

Manual Testing Steps

1. ./build/axon_config/test_axon_config
   • Result: 58 tests passed.
2. ./build/axon_recorder/test/test_config_parser
   • Result: 54 tests passed.
3. ruby -e 'require "yaml"; ARGV.each { |path| YAML.load_file(path); puts "#{path}: ok" }' apps/axon_recorder/config/default_config_ros1.yaml apps/axon_recorder/config/default_config_ros2.yaml apps/axon_transfer/config/transfer_config.yaml
   • Result: all three YAML files parsed successfully.
4. git diff --check HEAD~1..HEAD
   • Result: no whitespace errors.

Full local CI (./scripts/ci-all-local.sh) and Docker-backed workflow equivalents were not run, so this PR is opened as a draft.

Test Coverage

• New tests added
• Existing tests updated
• Coverage maintained or improved

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Screenshots / Recordings

N/A

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Performance Impact

• Memory usage: No change
• CPU usage: No change
• Recording throughput: No change
• Lock contention: No change

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Documentation

• apps/axon_config/README.md updated
• apps/axon_recorder/config/README.md updated
• apps/axon_transfer/README.md updated
• ARCHITECTURE.md updated
• CONTRIBUTING.md updated
• API documentation updated
• Design docs updated in docs/designs/
• No documentation changes needed

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Related Issues

N/A

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Additional Notes

• This PR intentionally contains no C++ or Python code changes.
• Local untracked files dist/ and scripts/pi2_ros2_bridge.py were not included in the commit or branch.

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Reviewers

N/A

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Notes for Reviewers

• Please verify the placeholder set matches the fields provided by axon_config register: recorder_rpc_url, transfer_ws_url, device_id, and factory_id.
• Please review the sample default-mode change from local HTTP RPC server mode to Keystone WebSocket client mode.

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Checklist for Reviewers

• Code changes are correct and well-implemented
• Tests are adequate and pass
• Documentation is updated and accurate
• No unintended side effects
• Performance impact is acceptable
• Backward compatibility maintained (if applicable)

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