feat: add foxglove bridge to moveit demo

- Install ros-jazzy-foxglove-bridge in Dockerfile
- Add foxglove_bridge node to both launch files (demo.launch.py, demo_gazebo.launch.py)
- Expose port 8765 in Dockerfile and docker-compose.yml (cpu + nvidia profiles)
- Add foxglove_bridge exec_depend to package.xml
- Bridge binds to 0.0.0.0:8765 with use_sim_time enabled

Connect Foxglove Studio via ws://localhost:8765 to visualize
all ROS 2 topics, TF, and joint states from the running demo.

Author: bburda

demos/moveit_pick_place/Dockerfile

@@ -30,6 +30,7 @@ RUN apt-get update && apt-get install -y \
     nlohmann-json3-dev \
     libcpp-httplib-dev \
     ros-jazzy-rosbag2-storage-mcap \
+    ros-jazzy-foxglove-bridge \
     sqlite3 libsqlite3-dev git curl \
     && rm -rf /var/lib/apt/lists/*
 
@@ -78,6 +79,6 @@ RUN mkdir -p ${DEMO_SCRIPTS} && \
     ln -sf ${COLCON_WS}/install/moveit_medkit_demo/lib/moveit_medkit_demo/restore-normal.sh ${DEMO_SCRIPTS}/restore-normal.sh
 ENV PATH="${DEMO_SCRIPTS}:${PATH}"
 
-EXPOSE 8080
+EXPOSE 8080 8765
 
 CMD ["bash"]

demos/moveit_pick_place/docker-compose.yml

@@ -16,6 +16,7 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
     ports:
       - "8080:8080"
+      - "8765:8765"
     stdin_open: true
     tty: true
     command: >
@@ -45,6 +46,7 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
     ports:
       - "8080:8080"
+      - "8765:8765"
     deploy:
       resources:
         reservations:

demos/moveit_pick_place/launch/demo.launch.py

@@ -130,6 +130,22 @@ def generate_launch_description():
                     },
                 ],
             ),
+            # === Foxglove Bridge (WebSocket on port 8765) ===
+            Node(
+                package="foxglove_bridge",
+                executable="foxglove_bridge",
+                name="foxglove_bridge",
+                output="screen",
+                parameters=[
+                    {
+                        "use_sim_time": use_sim_time,
+                        "port": 8765,
+                        "address": "0.0.0.0",
+                        "send_buffer_limit": 10000000,
+                        "num_threads": 0,
+                    }
+                ],
+            ),
             # === Demo scripts ===
             # Pick-and-place loop
             Node(

demos/moveit_pick_place/launch/demo_gazebo.launch.py

@@ -475,6 +475,24 @@ def generate_launch_description():
                 ],
             ),
             # ═════════════════════════════════════════════════════════
+            # Foxglove Bridge (WebSocket on port 8765)
+            # ═════════════════════════════════════════════════════════
+            Node(
+                package="foxglove_bridge",
+                executable="foxglove_bridge",
+                name="foxglove_bridge",
+                output="screen",
+                parameters=[
+                    {
+                        "use_sim_time": True,
+                        "port": 8765,
+                        "address": "0.0.0.0",
+                        "send_buffer_limit": 10000000,
+                        "num_threads": 0,
+                    }
+                ],
+            ),
+            # ═════════════════════════════════════════════════════════
             # Demo scripts
             # ═════════════════════════════════════════════════════════
             TimerAction(

demos/moveit_pick_place/package.xml

@@ -27,6 +27,7 @@
   <exec_depend>ros2_medkit_gateway</exec_depend>
   <exec_depend>ros2_medkit_fault_manager</exec_depend>
   <exec_depend>ros2_medkit_diagnostic_bridge</exec_depend>
+  <exec_depend>foxglove_bridge</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>