feat(demos/ota): bake foxglove_bridge into gateway image (port 8765)

Without foxglove_bridge there is nothing for Foxglove Studio to subscribe
to - no /scan, no /tf, no 3D visual story. The Updates panel itself is
just the SOVD HTTP client and works without it, but the broader demo
narrative (phantom obstacle visible, robot stuck) needs the topic stream.

Adds ros-jazzy-foxglove-bridge to the runtime stage of Dockerfile.gateway,
launches it from entrypoint.sh on port 8765 (0.0.0.0), and maps the port
through compose with OTA_FOXGLOVE_BRIDGE_PORT override.

Verified live: 'Server listening on port 8765' and channels for /scan,
/rosout, /fault_manager/events advertised at startup.

Author: bburda

demos/ota_nav2_sensor_fix/Dockerfile.gateway

@@ -59,6 +59,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
       ros-jazzy-visualization-msgs \
       ros-jazzy-launch-ros \
       ros-jazzy-test-msgs \
+      ros-jazzy-foxglove-bridge \
       libcpp-httplib-dev \
       libsystemd-dev \
       nlohmann-json3-dev \
@@ -73,5 +74,5 @@ RUN chmod +x /usr/local/bin/entrypoint.sh
 
 ENV ROS_DOMAIN_ID=42
 
-EXPOSE 8080
+EXPOSE 8080 8765
 ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]

demos/ota_nav2_sensor_fix/README.md

@@ -46,13 +46,25 @@ If host port 8080 is taken, override with `OTA_GATEWAY_PORT=8081 ./run-demo.sh`.
 
 Tear down: `docker compose down`.
 
-## Adding a Foxglove visualization
-
-Install the `ros2_medkit_foxglove_extension` (which now ships an Updates
-panel - see https://github.com/selfpatch/ros2_medkit_foxglove_extension)
-in your local Foxglove Studio, then point it at
-`http://localhost:8080/api/v1`. The Updates panel exposes Prepare and
-Execute buttons next to each catalog entry.
+## Foxglove Studio visualization
+
+The gateway container also runs `foxglove_bridge` on port `8765` so
+Foxglove Studio can subscribe to ROS 2 topics (e.g. `/scan` from
+broken_lidar / fixed_lidar).
+
+1. Open Foxglove Studio -> **Open connection** -> **Foxglove WebSocket** ->
+   `ws://localhost:8765`. You should see `/scan` and other topics in the
+   Topics panel.
+2. Install the [`ros2_medkit_foxglove_extension`](https://github.com/selfpatch/ros2_medkit_foxglove_extension)
+   (`npm run local-install` in that repo, or drag-and-drop the `.foxe`
+   onto Foxglove). It ships three panels: Entity Browser, Faults Dashboard,
+   and **ros2_medkit Updates**.
+3. Add the **ros2_medkit Updates** panel and set its `baseUrl` to
+   `http://localhost:8080/api/v1` (or the port you picked via
+   `OTA_GATEWAY_PORT`).
+4. Click **Prepare** and **Execute** in the Updates panel - the same SOVD
+   endpoints `trigger-update.sh` hits, with progress feedback in the panel
+   and live `/scan` updates in the 3D scene.
 
 ## Adding nav2 / a sim
 

demos/ota_nav2_sensor_fix/docker-compose.yml

@@ -16,6 +16,7 @@ services:
     networks: [otanet]
     ports:
       - "${OTA_GATEWAY_PORT:-8080}:8080"
+      - "${OTA_FOXGLOVE_BRIDGE_PORT:-8765}:8765"
     environment:
       ROS_DOMAIN_ID: 42
     depends_on:

demos/ota_nav2_sensor_fix/entrypoint.sh

@@ -18,6 +18,13 @@ source /ws/install/setup.bash
 ros2 run broken_lidar broken_lidar_node &
 ros2 run broken_lidar_legacy broken_lidar_legacy &
 
+# foxglove_bridge: WebSocket server on :8765 so Foxglove Studio can
+# subscribe to /scan, /tf, and any topic the demo nodes publish. Required
+# for the visual narrative (3D scene + phantom obstacle); the SOVD Updates
+# panel itself only needs the gateway HTTP API.
+ros2 run foxglove_bridge foxglove_bridge \
+  --ros-args -p port:=8765 -p address:=0.0.0.0 &
+
 # Foreground gateway. Pass the config file directly to the gateway_node
 # executable (the gateway.launch.py wrapper does not expose a config_file
 # argument, so we invoke the executable directly to thread our YAML in).

demos/ota_nav2_sensor_fix/run-demo.sh

@@ -119,8 +119,9 @@ fi
 echo ""
 echo "Demo is up."
 echo ""
-echo "  Gateway HTTP API:  ${GATEWAY_URL}/api/v1/"
-echo "  Update server:     http://localhost:9000/catalog"
+echo "  Gateway HTTP API:    ${GATEWAY_URL}/api/v1/"
+echo "  Foxglove WebSocket:  ws://localhost:${OTA_FOXGLOVE_BRIDGE_PORT:-8765}"
+echo "  Update server:       http://localhost:9000/catalog"
 echo ""
 echo "Registered updates:"
 if command -v jq >/dev/null 2>&1; then