docs(ota_demo): add high-level architecture diagram to README#70
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Add an Architecture section with a Mermaid diagram of the ota_nav2_sensor_fix demo: the two containers (ota_demo_gateway and ota_update_server) and the four flows - OTA update, fault detection, node hot-swap and live telemetry.
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Pull request overview
Adds a high-level Architecture section to the ota_nav2_sensor_fix demo README so readers can understand the container/components layout and the main interaction flows before the step-by-step narrative.
Changes:
- Introduces an Architecture section describing the two-container setup and key components.
- Adds a Mermaid flowchart diagram with color-coded flows for OTA updates, fault reporting, hot-swap, and Foxglove telemetry.
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| `foxglove_bridge`) plus the `ota_update_server` that hosts the update catalog | ||
| and artifacts. The coloured flows are the two storylines: the **OTA update** | ||
| path (violet), the **fault detection** path (red), the live **node hot-swap** | ||
| (green, dashed) and **live telemetry** to Foxglove (blue, dashed). |
| plugin["ota_update_plugin<br/>UpdateProvider<br/>stage → kill → swap → respawn"]:::plain | ||
| bridges["log + action-status bridges<br/>Nav2 errors / aborts → SOVD faults"]:::plain | ||
| fm["fault_manager<br/>latch (no self-heal)<br/>freeze-frame + MCAP"]:::plain | ||
| hc["health_check<br/>run_health_checks · fingers the lidar"]:::plain |
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| operator -->|POST/PUT /updates · DELETE faults| plugin | ||
| plugin -.->|kill + swap| scan | ||
| plugin -->|GET /catalog · /artifacts| cat | ||
| cat --- art | ||
| fb -.->|ws :8765| foxglove | ||
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| %% flow colouring: 3,4 = fault | 5,7 = OTA | 6 = hot-swap | 9 = telemetry | ||
| linkStyle 3,4 stroke:#e11d48,stroke-width:2.5px; | ||
| linkStyle 5,7 stroke:#7c3aed,stroke-width:2.5px; | ||
| linkStyle 6 stroke:#059669,stroke-width:2.5px; | ||
| linkStyle 9 stroke:#0284c7,stroke-width:2.5px; | ||
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Description
Add an Architecture section to the
ota_nav2_sensor_fixdemo README with a Mermaid diagram giving a high-level view of the demo before the step-by-step narrative.The diagram shows the two containers - the all-in-one
ota_demo_gateway(Gazebo, the swappablescan_sensor_node, the Nav2 stack, and theros2_medkitgateway with the OTA plugin, the fault bridges,fault_manager,health_check,foxglove_bridge) and theota_update_server(FastAPI catalog + artifacts) - and the four colour-coded flows:/updates-> plugin -> update server/catalog/artifacts)fault_managerfreeze-frame + MCAP)fixed_lidar<->broken_lidar)Docs-only change; the Mermaid renders natively on GitHub.
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