feat: add foxglove bridge support and default to FASTLIO2

- Add ros-foxglove-bridge to Dockerfile runtime dependencies
- Launch foxglove_bridge on port 8765 in docker-compose command
- Default to use_fastlio2:=true in launch command

Author: iserverobotics-bona

docker/Dockerfile

@@ -152,6 +152,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-rviz2 \
     ros-${ROS_DISTRO}-joy \
     ros-${ROS_DISTRO}-rmw-fastrtps-cpp \
+    ros-${ROS_DISTRO}-foxglove-bridge \
     libpcl-dev \
     libgoogle-glog-dev \
     libgflags-dev \

docker/docker-compose.yml

@@ -72,9 +72,11 @@ services:
       - -c
       - |
         echo "Starting real robot system with route planner..."
-        ros2 launch vehicle_simulator system_real_robot_with_route_planner.launch.py &
+        ros2 launch vehicle_simulator system_real_robot_with_route_planner.launch.py use_fastlio2:=true &
         NAV_PID=$$!
         sleep 2
+        echo "Starting Foxglove Bridge on port 8765..."
+        ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765 &
         if [ "$$USE_RVIZ" = "true" ]; then
           echo "Starting RViz2..."
           ros2 run rviz2 rviz2 -d /ros2_ws/src/route_planner/far_planner/rviz/default.rviz &