feat(demos/ota): add SOVD manifest with logical functions

The previous config disabled function auto-generation but the result
was zero Functions - which made the tree's Functions section empty
rather than meaningful. Add a manifest defining areas, components,
apps, and five logical functions:

- Autonomous Navigation (bt_navigator + planner + controller +
  smoother + behaviors + waypoint + velocity smoother + collision
  monitor + docking + costmaps + lifecycle manager)
- Localization (amcl + map server + lifecycle manager)
- Perception (scan_sensor_node + ros_gz_bridge - the OTA target)
- Fleet Diagnostics (gateway + fault manager)
- Live Telemetry (foxglove bridge + robot state publisher)

These are the capabilities the demo narrative pivots on: an operator
viewing the tree sees "Perception is broken" or "Autonomous Navigation
is degraded" rather than scrolling through 27 individual nodes.

Switches discovery to hybrid mode so manifest entities + runtime
discovery cooperate. unmanifested_nodes: warn + manifest_strict_validation:
false tolerate the OTA-driven runtime changes (broken_lidar_legacy
disappears on uninstall, obstacle_classifier_v2 appears on install)
without manifest reconciliation churn. create_synthetic_components and
create_functions_from_namespaces both stay off - the manifest is the
source of truth.

Author: bburda

demos/ota_nav2_sensor_fix/Dockerfile.gateway

@@ -93,6 +93,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 COPY --from=builder /ws/install /ws/install
 COPY gateway_config.yaml /etc/ros2_medkit/gateway_config.yaml
+COPY manifest.yaml /etc/ros2_medkit/manifest.yaml
 COPY entrypoint.sh /usr/local/bin/entrypoint.sh
 RUN chmod +x /usr/local/bin/entrypoint.sh
 

demos/ota_nav2_sensor_fix/gateway_config.yaml

@@ -25,15 +25,18 @@ ros2_medkit_gateway:
       max_age_seconds: 86400
 
     discovery:
-      mode: "runtime_only"
+      # Hybrid: manifest defines areas/components/apps/functions, runtime
+      # fills in topics/services/params and surfaces OTA-installed nodes
+      # (e.g. obstacle_classifier_v2 after trigger-install.sh) without
+      # needing a manifest entry for them.
+      mode: "hybrid"
+      manifest_path: "/etc/ros2_medkit/manifest.yaml"
+      manifest_strict_validation: false
       runtime:
-        # The demo's nav2 nodes don't share a meaningful namespace - they
-        # all live at root with a few `/global_costmap`, `/local_costmap`
-        # exceptions. Letting the gateway auto-synthesize Functions from
-        # those namespaces produces single-host "global_costmap" /
-        # "local_costmap" / "root" Functions that don't represent any
-        # logical capability. Disable the auto-gen here; without a
-        # manifest the Functions tree section just stays empty.
+        # Manifest defines components, no need for synthetic ones.
+        create_synthetic_components: false
+        # Manifest defines functions; the auto-gen-from-namespaces path
+        # produces single-host noise because the nav2 stack lives at /.
         create_functions_from_namespaces: false
 
     # Enable /updates endpoints; provider supplied by ota_update_plugin below.

demos/ota_nav2_sensor_fix/manifest.yaml

@@ -0,0 +1,323 @@
+# Copyright 2026 bburda. Apache-2.0.
+#
+# SOVD manifest for the OTA over SOVD nav2 sensor-fix demo.
+#
+# The demo runs in hybrid discovery mode: this manifest defines areas /
+# components / apps / functions, runtime discovery fills in topic
+# bindings, and OTA-installed nodes (e.g. obstacle_classifier_v2 after
+# trigger-install.sh) appear automatically without needing a manifest
+# entry.
+#
+# The point of the manifest is to make the Functions tree meaningful:
+# without it the gateway either auto-synthesizes one Function per
+# namespace (mostly single-host noise on this stack, where everything
+# lives at root) or leaves it empty. Here we group nodes by capability
+# so an operator viewing the tree sees Navigation / Localization /
+# Perception / Diagnostics / Visualization, not opaque hashes.
+
+manifest_version: "1.0"
+
+metadata:
+  name: "ota-nav2-sensor-fix"
+  description: "OTA over SOVD demo - TurtleBot3 + Nav2 + headless Gazebo + ros2_medkit gateway"
+  version: "0.1.0"
+
+config:
+  # broken_lidar_legacy gets uninstalled by the OTA flow; obstacle_classifier
+  # gets installed at runtime. Both are unmanifested at boot - tolerate.
+  unmanifested_nodes: warn
+  # Pull in topics, services, params from the running graph for entities
+  # the manifest declares.
+  inherit_runtime_resources: true
+
+# =============================================================================
+# AREAS
+# =============================================================================
+areas:
+  - id: robot
+    name: "Robot"
+    description: "TurtleBot3 platform, sensors, and TF infrastructure"
+    namespace: /
+
+  - id: navigation
+    name: "Navigation"
+    description: "Nav2 motion / planning / control stack"
+    namespace: /
+
+  - id: diagnostics
+    name: "Diagnostics"
+    description: "ros2_medkit gateway, fault manager, OTA"
+    namespace: /
+
+  - id: visualization
+    name: "Visualization"
+    description: "Foxglove bridge and simulator-ROS bridge"
+    namespace: /
+
+# =============================================================================
+# COMPONENTS - logical groupings the apps live on
+# =============================================================================
+components:
+  - id: lidar-sensor
+    name: "LiDAR Sensor"
+    type: "sensor"
+    description: "2D LiDAR (broken_lidar / fixed_lidar after OTA swap)"
+    area: robot
+
+  - id: robot-base
+    name: "TurtleBot3 Base"
+    type: "platform"
+    description: "Robot platform - URDF publisher and gz bridge"
+    area: robot
+
+  - id: nav2-motion
+    name: "Nav2 Motion"
+    type: "controller"
+    description: "BT navigator, planner, controller, behaviors, costmaps"
+    area: navigation
+
+  - id: nav2-localization
+    name: "Nav2 Localization"
+    type: "controller"
+    description: "AMCL + map server + localization lifecycle manager"
+    area: navigation
+
+  - id: medkit-gateway-unit
+    name: "ros2_medkit Gateway"
+    type: "controller"
+    description: "SOVD HTTP gateway with the OTA update plugin loaded"
+    area: diagnostics
+
+  - id: fault-manager-unit
+    name: "Fault Manager"
+    type: "controller"
+    description: "Fault aggregation backend behind /faults"
+    area: diagnostics
+
+  - id: foxglove-unit
+    name: "Foxglove Bridge"
+    type: "controller"
+    description: "WebSocket bridge for Foxglove Studio panels"
+    area: visualization
+
+# =============================================================================
+# APPS - one per ROS 2 node we care about (skip nav2-internal _rclcpp_node
+# helpers and transform_listener_impl_* - they're plumbing, not user-facing)
+# =============================================================================
+apps:
+  # ── LiDAR / perception ────────────────────────────────────────────
+  - id: scan-sensor
+    name: "Scan Sensor"
+    category: "sensor"
+    is_located_on: lidar-sensor
+    description: "LaserScan publisher (broken_lidar pre-OTA, fixed_lidar post-OTA)"
+    ros_binding: { node_name: scan_sensor_node, namespace: / }
+
+  - id: ros-gz-bridge
+    name: "ROS-Gazebo Bridge"
+    category: "simulation"
+    is_located_on: lidar-sensor
+    description: "Bridges /scan_sim and /clock from gz-sim"
+    ros_binding: { node_name: ros_gz_bridge, namespace: / }
+
+  # ── Robot platform ────────────────────────────────────────────────
+  - id: robot-state-publisher
+    name: "Robot State Publisher"
+    category: "platform"
+    is_located_on: robot-base
+    description: "Publishes the robot URDF TF tree"
+    ros_binding: { node_name: robot_state_publisher, namespace: / }
+
+  # ── Nav2 motion ───────────────────────────────────────────────────
+  - id: bt-navigator
+    name: "BT Navigator"
+    category: "navigation"
+    is_located_on: nav2-motion
+    description: "Behavior Tree navigator - hosts navigate_to_pose action"
+    ros_binding: { node_name: bt_navigator, namespace: / }
+
+  - id: planner-server
+    name: "Planner Server"
+    category: "navigation"
+    is_located_on: nav2-motion
+    description: "Global path planner"
+    ros_binding: { node_name: planner_server, namespace: / }
+
+  - id: controller-server
+    name: "Controller Server"
+    category: "navigation"
+    is_located_on: nav2-motion
+    description: "Local path follower"
+    ros_binding: { node_name: controller_server, namespace: / }
+
+  - id: smoother-server
+    name: "Smoother Server"
+    category: "navigation"
+    is_located_on: nav2-motion
+    description: "Path smoothing"
+    ros_binding: { node_name: smoother_server, namespace: / }
+
+  - id: route-server
+    name: "Route Server"
+    category: "navigation"
+    is_located_on: nav2-motion
+    description: "Route planning"
+    ros_binding: { node_name: route_server, namespace: / }
+
+  - id: behavior-server
+    name: "Behavior Server"
+    category: "navigation"
+    is_located_on: nav2-motion
+    description: "Recovery behaviors"
+    ros_binding: { node_name: behavior_server, namespace: / }
+
+  - id: waypoint-follower
+    name: "Waypoint Follower"
+    category: "navigation"
+    is_located_on: nav2-motion
+    description: "Sequenced waypoint navigation"
+    ros_binding: { node_name: waypoint_follower, namespace: / }
+
+  - id: velocity-smoother
+    name: "Velocity Smoother"
+    category: "navigation"
+    is_located_on: nav2-motion
+    description: "/cmd_vel smoothing"
+    ros_binding: { node_name: velocity_smoother, namespace: / }
+
+  - id: collision-monitor
+    name: "Collision Monitor"
+    category: "navigation"
+    is_located_on: nav2-motion
+    description: "Emergency stop on imminent collision"
+    ros_binding: { node_name: collision_monitor, namespace: / }
+
+  - id: docking-server
+    name: "Docking Server"
+    category: "navigation"
+    is_located_on: nav2-motion
+    description: "Approach + dock action"
+    ros_binding: { node_name: docking_server, namespace: / }
+
+  - id: global-costmap
+    name: "Global Costmap"
+    category: "navigation"
+    is_located_on: nav2-motion
+    description: "Static + obstacle costmap for planning"
+    ros_binding: { node_name: global_costmap, namespace: /global_costmap }
+
+  - id: local-costmap
+    name: "Local Costmap"
+    category: "navigation"
+    is_located_on: nav2-motion
+    description: "Local rolling costmap for control"
+    ros_binding: { node_name: local_costmap, namespace: /local_costmap }
+
+  - id: lifecycle-manager-navigation
+    name: "Lifecycle Manager (Navigation)"
+    category: "navigation"
+    is_located_on: nav2-motion
+    description: "Nav2 motion lifecycle orchestration"
+    ros_binding: { node_name: lifecycle_manager_navigation, namespace: / }
+
+  # ── Nav2 localization ─────────────────────────────────────────────
+  - id: amcl
+    name: "AMCL"
+    category: "localization"
+    is_located_on: nav2-localization
+    description: "Adaptive Monte Carlo Localization"
+    ros_binding: { node_name: amcl, namespace: / }
+
+  - id: map-server
+    name: "Map Server"
+    category: "localization"
+    is_located_on: nav2-localization
+    description: "Static map publisher"
+    ros_binding: { node_name: map_server, namespace: / }
+
+  - id: lifecycle-manager-localization
+    name: "Lifecycle Manager (Localization)"
+    category: "localization"
+    is_located_on: nav2-localization
+    description: "Localization lifecycle orchestration"
+    ros_binding: { node_name: lifecycle_manager_localization, namespace: / }
+
+  # ── Diagnostics ───────────────────────────────────────────────────
+  - id: medkit-gateway
+    name: "ros2_medkit Gateway"
+    category: "gateway"
+    is_located_on: medkit-gateway-unit
+    description: "SOVD REST gateway, hosts the OTA plugin"
+    ros_binding: { node_name: ros2_medkit_gateway, namespace: / }
+
+  - id: medkit-fault-manager
+    name: "Fault Manager"
+    category: "diagnostics"
+    is_located_on: fault-manager-unit
+    description: "Fault aggregation + storage"
+    ros_binding: { node_name: fault_manager, namespace: / }
+
+  # ── Visualization ─────────────────────────────────────────────────
+  - id: foxglove-bridge
+    name: "Foxglove Bridge"
+    category: "visualization"
+    is_located_on: foxglove-unit
+    description: "WebSocket bridge on :8765"
+    ros_binding: { node_name: foxglove_bridge, namespace: / }
+
+# =============================================================================
+# FUNCTIONS - what the user actually selects in the tree to ask
+# "is this capability working?"
+# =============================================================================
+functions:
+  - id: autonomous-navigation
+    name: "Autonomous Navigation"
+    category: "mobility"
+    description: "Plan + drive to a goal pose - the headline OTA demo capability"
+    hosted_by:
+      - bt-navigator
+      - planner-server
+      - controller-server
+      - smoother-server
+      - route-server
+      - behavior-server
+      - waypoint-follower
+      - velocity-smoother
+      - collision-monitor
+      - docking-server
+      - global-costmap
+      - local-costmap
+      - lifecycle-manager-navigation
+
+  - id: localization
+    name: "Localization"
+    category: "mobility"
+    description: "Where is the robot in the map - AMCL + map server"
+    hosted_by:
+      - amcl
+      - map-server
+      - lifecycle-manager-localization
+
+  - id: perception
+    name: "Perception"
+    category: "sensing"
+    description: "LaserScan stream feeding nav2 - the OTA target"
+    hosted_by:
+      - scan-sensor
+      - ros-gz-bridge
+
+  - id: fleet-diagnostics
+    name: "Fleet Diagnostics"
+    category: "diagnostics"
+    description: "SOVD REST surface + fault aggregation - this panel"
+    hosted_by:
+      - medkit-gateway
+      - medkit-fault-manager
+
+  - id: live-telemetry
+    name: "Live Telemetry"
+    category: "observability"
+    description: "Foxglove bridge + URDF publisher feeding the 3D panel"
+    hosted_by:
+      - foxglove-bridge
+      - robot-state-publisher