fix(kinova_site): camera streaming, USB split, and pstop recovery

[suchkristenwow]

Summary

Site-config fixes for the real Kinova Gen3 deployment, covering protective-stop recovery, JTAC tolerances, and multi-camera streaming reliability.

• config.yaml — Keep joint_trajectory_controller active at startup. Protective-stop recovery deactivates everything and reactivates the default-active set; without a joint controller in that set the arm settles in ARMSTATE_SERVOING_READY, which the kortex driver's read() reports as in_fault_, so the arm re-reports RECOVERABLE_FAULT immediately after a successful reset.
• picknik_kinova_gen3.ros2_control.yaml — Raise JTAC default_path_tolerance/default_goal_tolerance to 0.20 rad. A real arm tracking a teleop-generated path easily exceeds the 0.05 rad default; any violation funnels through writeToleranceViolation, which currently aborts ros2_control_node (fmt/spdlog ABI clash). Keep generous until that upstream bug is fixed.
• cameras.launch.xml — Bump wrist-camera pub rate 6 → 30 Hz to match the ~30 Hz producer and keep the appsink FIFO drained, removing a standing ~130–170 ms lag.
• zed_camera.launch.xml — Drop ZED 2i to VGA (1344x376 side-by-side). Two ZEDs at HD720 exceed the shared USB controller's bandwidth so neither streams; VGA is ~1/4 the data so both stream. Per-eye crop is downscaled to 224 by the Pi0 processor anyway.
• robot_drivers_to_persist.launch.py — Put scene_camera and scene_camera_2 on separate USB controllers, and delay scene_camera_2 by 40s to clear the wrist-camera VIDIOC_STREAMON startup race (the wrist cam retries stream-start for ~34s; bringing scene_camera_2 up mid-storm leaves it advertising topics but publishing zero frames).

Test plan

• Power-cycle arm, launch once, confirm protective-stop recover leaves the arm controllable (no immediate re-fault).
• Teleop to waypoints without tripping a tolerance-violation crash.
• Confirm both scene ZEDs and the wrist camera stream frames after a cold launch.

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