fix: cross-demo script regressions + multi-ECU smoke-test flake

[bburda]

Description

Fixes a set of demo-script regressions surfaced while running every demo end-to-end with its documented scripts, plus an intermittent multi-ECU CI flake. None of the script issues are new - they accumulated over time and went unnoticed because no single change exercises every demo end-to-end. Split out from #58 so the OTA demo PR stays scoped to the OTA demo and these unrelated fixes land on their own.

Script regressions

• lib: resolve sourced lib path via BASH_SOURCE instead of $0 - lib/setup-trigger.sh and lib/watch-trigger.sh resolved SCRIPT_DIR from $0, which stays the caller's path when the lib is sourced, so the re-source of triggers-api.sh failed with "No such file or directory".
• triggers: use hyphenated entity IDs to match gateway normalisation - the gateway exposes entities as diagnostic-bridge, manipulation-monitor, etc. The per-demo trigger wrappers passed the ROS-node-name spelling (diagnostic_bridge), which matches the reporting source path but not the URL-addressable entity ID, so setup-triggers returned HTTP 404. turtlebot3 also switched from anomaly-detector to diagnostic-bridge because faults bucket against the bridge on that stack.
• relax nounset around ROS setup.bash sourcing - container scripts in moveit_pick_place and multi_ecu_aggregation start with set -eu, then source /opt/ros/jazzy/setup.bash, which dereferences AMENT_TRACE_SETUP_FILES without guarding for unset. Every inject/restore aborted with AMENT_TRACE_SETUP_FILES: unbound variable before the payload ran. Wrapped each source pair with set +u / set -u.
• tb3: treat nav2 action rejection as expected in inject-localization-failure - the script scatters AMCL particles then asks bt-navigator to navigate; under scattered particles the action server returns HTTP 400 (the whole point of the demo), but curl -sf exit 22 aborted before the final print. Dropped -f to match inject-nav-failure on the same demo.
• restore exec bit on injection/diagnostic scripts - 4 host-side helper scripts in sensor_diagnostics and moveit_pick_place lost their executable bit; README and run-demo.sh reference them as ./script.sh. chmod +x, no content change.

CI flake fix

• multi-ecu: wait for actuation ECU aggregation before asserting - tests/smoke_test_multi_ecu.sh gated readiness on the planning ECU's path-planner only, then asserted on all three peer ECUs. When the actuation ECU was slower to aggregate into robot-alpha, the apps assertion ran early and reported "found 7" instead of >=10, failing build-and-test-multi-ecu intermittently. The gate now waits for a representative app from each peer ECU (path-planner for planning, motor-controller for actuation) before the discovery assertions run.

Test plan

• shellcheck clean across all *.sh / *.bash (CI-equivalent find | xargs shellcheck)
• Brought up the 3-ECU multi_ecu_aggregation stack locally and ran tests/smoke_test_multi_ecu.sh: 24/24 pass, with the gate now reporting planning ECU aggregated and actuation ECU aggregated before the assertions
• Negative check: started the stack with the actuation ECU deliberately absent - the gate waits 60s and exits non-zero with actuation ECU not aggregated within 60s (motor-controller missing), instead of racing into a confusing "found 7" assertion failure

Related Issue

Split out from #58.

Checklist

• Tested locally
• README updated (if needed)

[Copilot]

Pull request overview

This PR fixes several shell-script regressions across multiple demos and hardens the multi-ECU smoke test to reduce CI flakiness by gating on aggregation readiness from multiple peer ECUs.

Changes:

• Make trigger helper libs source-safe by resolving their own directory via BASH_SOURCE[0].
• Align demo trigger scripts to gateway-normalized, hyphenated entity IDs (and update TB3 to use diagnostic-bridge).
• Reduce multi-ECU smoke-test flake by waiting for representative apps from both planning and actuation ECUs before asserting discovery.
• Relax nounset around ROS setup.bash sourcing in several container scripts.

Reviewed changes

Copilot reviewed 19 out of 23 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
tests/smoke_test_multi_ecu.sh	Adds a stronger aggregation readiness gate by waiting for both planning + actuation marker apps.
lib/watch-trigger.sh	Uses BASH_SOURCE[0] to resolve paths correctly when sourced.
lib/setup-trigger.sh	Uses BASH_SOURCE[0] to resolve paths correctly when sourced.
demos/turtlebot3_integration/watch-triggers.sh	Switches watched entity ID to diagnostic-bridge (hyphenated).
demos/turtlebot3_integration/setup-triggers.sh	Switches trigger target to diagnostic-bridge and updates explanatory comments.
demos/turtlebot3_integration/container_scripts/nav2-stack/inject-localization-failure/script.bash	Treats nav2 rejection as expected by removing curl -f and printing the response.
demos/sensor_diagnostics/watch-triggers.sh	Switches watched entity ID to diagnostic-bridge (hyphenated).
demos/sensor_diagnostics/setup-triggers.sh	Switches trigger target to diagnostic-bridge (hyphenated).
demos/sensor_diagnostics/run-diagnostics.sh	Adds a Scripts API wrapper to run diagnostics from the host.
demos/sensor_diagnostics/inject-fault-scenario.sh	Adds a Scripts API wrapper to inject a composite fault scenario from the host.
demos/multi_ecu_aggregation/container_scripts/planning-ecu/restore-normal/script.bash	Wraps ROS environment sourcing with set +u/set -u to avoid nounset failures.
demos/multi_ecu_aggregation/container_scripts/planning-ecu/inject-planning-delay/script.bash	Wraps ROS environment sourcing with set +u/set -u to avoid nounset failures.
demos/multi_ecu_aggregation/container_scripts/perception-ecu/restore-normal/script.bash	Wraps ROS environment sourcing with set +u/set -u to avoid nounset failures.
demos/multi_ecu_aggregation/container_scripts/perception-ecu/inject-sensor-failure/script.bash	Wraps ROS environment sourcing with set +u/set -u to avoid nounset failures.
demos/multi_ecu_aggregation/container_scripts/actuation-ecu/restore-normal/script.bash	Wraps ROS environment sourcing with set +u/set -u to avoid nounset failures.
demos/multi_ecu_aggregation/container_scripts/actuation-ecu/inject-gripper-jam/script.bash	Wraps ROS environment sourcing with set +u/set -u to avoid nounset failures.
demos/moveit_pick_place/watch-triggers.sh	Switches watched entity ID to manipulation-monitor (hyphenated).
demos/moveit_pick_place/setup-triggers.sh	Switches trigger target to manipulation-monitor (hyphenated).
demos/moveit_pick_place/planning-benchmark.sh	Adds a Scripts API wrapper for the planning benchmark.
demos/moveit_pick_place/container_scripts/moveit-planning/restore-normal/script.bash	Wraps ROS environment sourcing with set +u/set -u to avoid nounset failures.
demos/moveit_pick_place/container_scripts/moveit-planning/inject-planning-failure/script.bash	Wraps ROS environment sourcing with set +u/set -u to avoid nounset failures.
demos/moveit_pick_place/container_scripts/moveit-planning/inject-collision/script.bash	Wraps ROS environment sourcing with set +u/set -u to avoid nounset failures.
demos/moveit_pick_place/arm-self-test.sh	Adds a Scripts API wrapper for the arm self-test.

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