refactor(demos/ota): collapse to one component, keep apps + functions

The previous manifest split apps across seven components - lidar-sensor,
robot-base, nav2-motion, nav2-localization, medkit-gateway-unit,
fault-manager-unit, foxglove-unit - but none of those subdivisions
correspond to anything you can actually OTA independently in this demo.
They all run on a single host, the only swap target is the LiDAR app
itself, and the seven-component tree just made the operator scroll past
artificial boundaries.

Replace with a single `turtlebot3` component that owns every app. The
hierarchy the operator now sees is:
  - 1 Component: TurtleBot3 Robot (the OTA boundary).
  - 22 Apps:     the ROS 2 nodes inside it.
  - 5 Functions: capability groupings (Autonomous Navigation /
                 Localization / Perception / Fleet Diagnostics /
                 Live Telemetry).

Functions remain the cross-cutting view - "is Perception working?"
pulls scan-sensor + ros-gz-bridge from the single component, no
component partition needed to answer that question. Multi-component
manifests still make sense in multi-host / multi-ECU scenarios; for
this single-robot demo we don't fake them.

Author: bburda

demos/ota_nav2_sensor_fix/manifest.yaml

@@ -8,18 +8,22 @@
 # automatically without needing a manifest entry.
 #
 # Hierarchy used for this demo:
-#   - Components are the OTA / hardware boundaries: a LiDAR sensor, the
-#     Nav2 motion stack, the diagnostics services, etc. This is what
-#     "you can swap" looks like.
-#   - Apps are the ROS 2 nodes that live on a component.
+#   - One Component: the robot itself. SOVD lets a manifest declare
+#     multiple components (e.g. one per ECU on a vehicle), but here
+#     everything runs on a single host so a flat single-component model
+#     is honest and avoids fake "lidar-sensor / nav2-motion / ..."
+#     subdivisions that don't correspond to anything you can actually
+#     swap independently in this demo.
+#   - Apps are the ROS 2 nodes - one entry per node we want the operator
+#     to see. They all live on the single robot component.
 #   - Functions are capability groupings - "Autonomous Navigation",
-#     "Perception" - that pull apps from across components when the
-#     capability is delivered by more than one node.
+#     "Perception" etc. - that pull apps together by what they deliver,
+#     orthogonally to where they run.
 #
 # Areas are intentionally left out. SOVD allows them, but they only add
-# value when there's a meaningful spatial / zone partition (powertrain /
-# body / chassis on a vehicle ECU mesh). On a single robot they just
-# regroup the same components a second time and clutter the tree.
+# value when there's a meaningful zone partition (powertrain / body /
+# chassis on a vehicle ECU mesh, or multi-robot tenancy). For a single
+# robot they just regroup the same component a second time.
 
 manifest_version: "1.0"
 
@@ -37,43 +41,14 @@ config:
   inherit_runtime_resources: true
 
 # =============================================================================
-# COMPONENTS - OTA / hardware boundaries; the apps live on these
+# COMPONENTS - one per OTA boundary. For this demo there's a single host
+# so a single component owns every app.
 # =============================================================================
 components:
-  - id: lidar-sensor
-    name: "LiDAR Sensor"
-    type: "sensor"
-    description: "2D LiDAR (broken_lidar / fixed_lidar after OTA swap)"
-
-  - id: robot-base
-    name: "TurtleBot3 Base"
+  - id: turtlebot3
+    name: "TurtleBot3 Robot"
     type: "platform"
-    description: "Robot platform - URDF publisher and gz bridge"
-
-  - id: nav2-motion
-    name: "Nav2 Motion"
-    type: "controller"
-    description: "BT navigator, planner, controller, behaviors, costmaps"
-
-  - id: nav2-localization
-    name: "Nav2 Localization"
-    type: "controller"
-    description: "AMCL + map server + localization lifecycle manager"
-
-  - id: medkit-gateway-unit
-    name: "ros2_medkit Gateway"
-    type: "controller"
-    description: "SOVD HTTP gateway with the OTA update plugin loaded"
-
-  - id: fault-manager-unit
-    name: "Fault Manager"
-    type: "controller"
-    description: "Fault aggregation backend behind /faults"
-
-  - id: foxglove-unit
-    name: "Foxglove Bridge"
-    type: "controller"
-    description: "WebSocket bridge for Foxglove Studio panels"
+    description: "TurtleBot3 burger running headless Gazebo, Nav2, the ros2_medkit gateway, and the OTA-managed sensor stack."
 
 # =============================================================================
 # APPS - one per ROS 2 node we care about (skip nav2-internal _rclcpp_node
@@ -84,159 +59,159 @@ apps:
   - id: scan-sensor
     name: "Scan Sensor"
     category: "sensor"
-    is_located_on: lidar-sensor
+    is_located_on: turtlebot3
     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
+    is_located_on: turtlebot3
     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
+    is_located_on: turtlebot3
     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
+    is_located_on: turtlebot3
     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
+    is_located_on: turtlebot3
     description: "Global path planner"
     ros_binding: { node_name: planner_server, namespace: / }
 
   - id: controller-server
     name: "Controller Server"
     category: "navigation"
-    is_located_on: nav2-motion
+    is_located_on: turtlebot3
     description: "Local path follower"
     ros_binding: { node_name: controller_server, namespace: / }
 
   - id: smoother-server
     name: "Smoother Server"
     category: "navigation"
-    is_located_on: nav2-motion
+    is_located_on: turtlebot3
     description: "Path smoothing"
     ros_binding: { node_name: smoother_server, namespace: / }
 
   - id: route-server
     name: "Route Server"
     category: "navigation"
-    is_located_on: nav2-motion
+    is_located_on: turtlebot3
     description: "Route planning"
     ros_binding: { node_name: route_server, namespace: / }
 
   - id: behavior-server
     name: "Behavior Server"
     category: "navigation"
-    is_located_on: nav2-motion
+    is_located_on: turtlebot3
     description: "Recovery behaviors"
     ros_binding: { node_name: behavior_server, namespace: / }
 
   - id: waypoint-follower
     name: "Waypoint Follower"
     category: "navigation"
-    is_located_on: nav2-motion
+    is_located_on: turtlebot3
     description: "Sequenced waypoint navigation"
     ros_binding: { node_name: waypoint_follower, namespace: / }
 
   - id: velocity-smoother
     name: "Velocity Smoother"
     category: "navigation"
-    is_located_on: nav2-motion
+    is_located_on: turtlebot3
     description: "/cmd_vel smoothing"
     ros_binding: { node_name: velocity_smoother, namespace: / }
 
   - id: collision-monitor
     name: "Collision Monitor"
     category: "navigation"
-    is_located_on: nav2-motion
+    is_located_on: turtlebot3
     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
+    is_located_on: turtlebot3
     description: "Approach + dock action"
     ros_binding: { node_name: docking_server, namespace: / }
 
   - id: global-costmap
     name: "Global Costmap"
     category: "navigation"
-    is_located_on: nav2-motion
+    is_located_on: turtlebot3
     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
+    is_located_on: turtlebot3
     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
+    is_located_on: turtlebot3
     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
+    is_located_on: turtlebot3
     description: "Adaptive Monte Carlo Localization"
     ros_binding: { node_name: amcl, namespace: / }
 
   - id: map-server
     name: "Map Server"
     category: "localization"
-    is_located_on: nav2-localization
+    is_located_on: turtlebot3
     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
+    is_located_on: turtlebot3
     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
+    is_located_on: turtlebot3
     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
+    is_located_on: turtlebot3
     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
+    is_located_on: turtlebot3
     description: "WebSocket bridge on :8765"
     ros_binding: { node_name: foxglove_bridge, namespace: / }