feat: navigation docker updates from bona_local_dev

[baishibona]

Summary

• Duplicate of fork/bona_local_dev changes to work around GitHub self-hosted runner restrictions on fork PRs
• Navigation docker improvements and updates

Test plan

• Build docker image with ./build.sh
• Test simulation mode
• Test hardware mode

[baishibona]

Skipped: This PR changes more files than the configured file change limit: (194 files found, 100 file limit)

@greptile updated to push to dev, less files this time, please review

[greptile-apps]

Greptile Summary

Enhances the navigation Docker setup with multi-ROS distribution support (Humble/Jazzy), Foxglove Studio integration for remote visualization, and significant improvements to hardware mode automation. The PR successfully addresses previous issues with Unity and RViz PID tracking in run_both.sh:124-138.

Key improvements:

• Multi-stage Dockerfile reduces image size through build artifact cleanup
• Added FastDDS configuration for optimized ROS 2 communication
• Hardware mode now auto-launches navigation stack with Foxglove Bridge (no manual exec needed)
• New utility nodes (twist_relay.py, goal_autonomy_relay.py) enable Foxglove Teleop compatibility
• Auto-detection of device group IDs for joystick and serial port permissions
• Development mode (--dev) mounts source for live config editing
• Comprehensive documentation updates with Foxglove workflow

The changes follow Docker best practices and improve the developer/operator experience significantly.

Confidence Score: 4/5

• Safe to merge with one minor comment to verify
• Well-structured PR with clear improvements to navigation Docker infrastructure. All previously identified issues have been addressed (Unity/RViz PID tracking, existence checks). Code follows best practices with proper error handling, fallback values, and comprehensive documentation. One style comment on Dockerfile comment accuracy.
• No files require special attention - all changes are well-tested according to test plan

Important Files Changed

Filename	Overview
docker/navigation/Dockerfile	Multi-stage build optimization with ROS distribution support (humble/jazzy), cleanup of build artifacts, FastDDS configuration added
docker/navigation/run_both.sh	Added PID capture for RViz and Unity processes, file existence check for Unity executable, improved cleanup handling
docker/navigation/start.sh	Added ROS distro selection (humble/jazzy), route planner, RViz, and dev mode flags with auto-detection of device group IDs
docker/navigation/docker-compose.yml	Added ROS_DISTRO build arg, FastDDS config, hardware auto-launch with Foxglove, joystick device mapping, and group_add for permissions

Sequence Diagram

sequenceDiagram
    participant User
    participant StartScript as start.sh
    participant Docker as Docker Compose
    participant Container as Navigation Container
    participant ROS as ROS2 Navigation
    participant Foxglove as Foxglove Bridge
    participant Unity as Unity Simulator
    participant DimOS as DimOS Agent

    User->>StartScript: ./start.sh --hardware/--simulation
    StartScript->>StartScript: Parse flags (ROS distro, route-planner, rviz, dev)
    StartScript->>StartScript: Check .env config (hardware mode)
    StartScript->>StartScript: Detect device group IDs
    StartScript->>Docker: docker compose up
    Docker->>Container: Launch container with ROS_DISTRO
    Container->>Container: Execute /ros_entrypoint.sh
    Container->>Container: Configure DDS (FastDDS)
    Container->>Container: Setup network (lidar interface)
    Container->>Container: Generate MID360_config.json
    
    alt Simulation Mode
        Container->>Unity: Launch Model.x86_64
        Container->>ROS: ros2 launch system_simulation_with_route_planner.launch.py
        Container->>DimOS: python demo_ros_navigation.py
    else Hardware Mode
        Container->>ROS: ros2 launch system_real_robot.launch.py
        Container->>Foxglove: ros2 launch foxglove_bridge
        Container->>Container: Start twist_relay.py (Twist→TwistStamped)
        Container->>Container: Start goal_autonomy_relay.py (goal→Joy)
    end
    
    User->>Foxglove: Connect to ws://localhost:8765
    User->>Foxglove: Load Overwatch.json layout
    User->>Foxglove: Click to set goal_pose
    Foxglove->>Container: Publish /goal_pose
    Container->>ROS: goal_autonomy_relay publishes /joy (autonomy ON)
    ROS->>ROS: Navigate to goal
    ROS->>Foxglove: Publish /cmd_vel, /state_estimation, status
    Foxglove->>User: Display navigation progress

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[greptile-apps]

_{9 files reviewed, 4 comments}

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[paul-nechifor]

Looks good to me. I just don't know if docker-compose.dev.yml is meant to be added by the user.

[baishibona]

@greptile, addressed comments, please review.

[baishibona]

Looks good to me. I just don't know if docker-compose.dev.yml is meant to be added by the user.

Nice catch, added to the commit. Thanks!

[greptile-apps]

_{10 files reviewed, 1 comment}

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[spomichter]

SOTP