Bundle the fault bridges in the image; docker-first quick start

[mfaferek93]

What

The documented install paths did not deliver the headline value:

• log_bridge and action_status_bridge were never COPYed into the Docker image (only diagnostic_bridge was), so ros2 launch ros2_medkit_gateway bringup.launch.py errored on the missing bridge packages.
• The README quick start launched gateway.launch.py (gateway only, no fault_manager, no bridges), so a first-time user saw the entity tree but zero faults.

Change

• Dockerfile: COPY ros2_medkit_log_bridge and ros2_medkit_action_status_bridge into the builder so the runtime image ships all the generic bridges. Verified end to end: with the bridges present, bringup.launch.py starts gateway + fault_manager + log_bridge + action_status_bridge cleanly, and a /rosout ERROR becomes a structured fault (GET /faults).
• README: lead the quick start with a one-command docker run that attaches to a running graph (forwarding ROS_DOMAIN_ID/RMW_IMPLEMENTATION so it matches the user's DDS; the image already ships both Fast DDS and CycloneDDS). Frame apt install as rolling out to the ROS index, and fix the source-build snippet to use bringup.launch.py.

Pushing to main rebuilds the jazzy/humble/lyrical images via the docker-publish workflow.

[Copilot]

Pull request overview

This PR updates the Docker build context and top-level documentation so the “bringup” stack (gateway + fault manager + generic fault bridges) is usable out-of-the-box, especially for Docker-first users attaching to an existing ROS 2 graph.

Changes:

• Dockerfile: include ros2_medkit_log_bridge and ros2_medkit_action_status_bridge in the image build context so they’re installed into the runtime image.
• README: change the Quick Start to run bringup.launch.py and describe attaching the container to the user’s DDS domain/RMW implementation.

Reviewed changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 1 comment.

File	Description
README.md	Reworks Quick Start to emphasize Docker attach flow and to use bringup.launch.py instead of gateway.launch.py.
Dockerfile	Copies additional bridge packages into the builder workspace so they’re present in the built/install tree.

Comments suppressed due to low confidence (3)

README.md:34

• The quick-start text says the bringup stack will turn /diagnostics into faults, but bringup.launch.py defaults enable_diagnostic_bridge to false, so /diagnostics will not be bridged unless the user opts in. This is likely to confuse first-time users trying diagnostic_updater-based stacks.

**README.md:41**
* The quick-start `docker run ... ros2 launch ...` command won’t actually run `ros2 launch` with the current image because the Dockerfile sets `ENTRYPOINT ["/entrypoint.sh"]`, and `entrypoint.sh` always execs `ros2 run ros2_medkit_gateway gateway_node "$@"`. As written, `ros2 launch ...` becomes extra args to `gateway_node` rather than executing the launch file.

ros2_medkit's action bridge turns that into a structured fault on the bt_navigator entity -
no instrumentation, no callbacks added to Nav2.

[!TIP]
Nothing was added to Nav2. The bridge reads the action status your stack already publishes,

**README.md:46**
* The phrase “Rolling out to the ROS index now” is time-sensitive and will become stale quickly (either after the release is done, or if the release gets delayed). Consider phrasing this as a stable install path without “now”.
</details>

[Copilot]

Pull request overview

Copilot reviewed 2 out of 2 changed files in this pull request and generated 1 comment.