fixed foxglove bugs, added dynamic fg layout, updated docs

Author: krrishj18

.env

@@ -25,15 +25,15 @@ COMPOSE_PROFILES="desktop,isaac-sim"
 
 # ================= Common ===================
 AUTOLAUNCH="true"  # If false, the docker-compose will just spawn idle docker containers with no launch command.
-NUM_ROBOTS="1"  # Number of robot containers to launch.
+NUM_ROBOTS="2"  # Number of robot containers to launch.
 RECORD_BAGS="false"  # "true" or "false"
 
 # ============== ISAAC SIM =====================
 ISAAC_SIM_GUI="/isaac-sim/AirStack/simulation/isaac-sim/assets/scenes/simple_pegasus.scene.usd"
 # Set to "true" to launch Isaac Sim using a standalone Python script instead of USD file
 ISAAC_SIM_USE_STANDALONE="true" # "true" or "false"
 # Script name (must be in /AirStack/simulation/isaac-sim/launch_scripts/)
-ISAAC_SIM_SCRIPT_NAME="example_one_px4_pegasus_launch_script.py"
+ISAAC_SIM_SCRIPT_NAME="example_multi_drone_scene_import.py" #"example_one_px4_pegasus_launch_script.py"
 PLAY_SIM_ON_START="false"
 
 # ===============================================

common/ros_packages/desktop_bringup/launch/gcs.launch.xml

@@ -13,13 +13,17 @@
   <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share desktop_bringup)/rviz/gcs.rviz --ros-args --log-level INFO" output="screen" respawn="true" respawn_delay="1" />
     ?>
 
+  <?ignore
   <node pkg="rqt_gui" exec="rqt_gui"
     args="--perspective-file $(find-pkg-share rqt_gcs)/config/gcs.perspective --ros-args --log-level INFO"
     output="screen" respawn="true" respawn_delay="1" />
+  ?>
 
   <!-- launch foxglove-studio -no-standbox -->
 
-  <executable cmd="bash -c 'DISPLAY=$DISPLAY XAUTHORITY=$XAUTHORITY foxglove-studio --no-sandbox'" output="screen"/>
+  <executable
+    cmd="bash -c 'DISPLAY=$DISPLAY XAUTHORITY=$XAUTHORITY foxglove-studio --no-sandbox &quot;foxglove://open?ds=foxglove-websocket&amp;ds.url=ws://localhost:8765&amp;layoutId=lay_0eLycKBK1l9dAtoR&quot;'"
+    output="screen"/>
 
   <node pkg="foxglove_bridge" exec="foxglove_bridge" output="screen" respawn="true" respawn_delay="1">
     <param name="port" value="8765" />

docs/gcs/foxglove.md

@@ -20,6 +20,12 @@ The visualizer auto-discovers any robot whose topics match the AirStack conventi
 
 All of these are published by individual robots in their **local `map` frame** (origin = drone boot position). The visualizer translates them into a single global `map` frame on the GCS using each robot's GPS boot offset, and merges everything into one `MarkerArray`.
 
+## Loading the dynamic layout
+
+The GCS container regenerates `gcs/foxglove_extensions/airstack_default.json` on every startup, replicating the `robot 1` tab once per robot up to `NUM_ROBOTS` (see `gcs/foxglove_extensions/render_layout.py`). Foxglove Studio Desktop has no way to deep-link a local file, so the org's cloud layout is what auto-loads via the `foxglove://open?...&layoutId=...` URL in `common/ros_packages/desktop_bringup/launch/gcs.launch.xml`.
+
+To use the locally-rendered, NUM_ROBOTS-matched layout instead: open Foxglove → **Layouts** menu → **Import from file...** → pick `/root/AirStack/gcs/foxglove_extensions/airstack_default.json`. Foxglove keeps the imported layout in its IndexedDB and re-activates it on subsequent launches — re-import only when you change `NUM_ROBOTS` or edit the template.
+
 ## Output topics
 
 | Topic | Type | What it carries |

gcs/docker/gcs-base-docker-compose.yaml

@@ -13,6 +13,7 @@ services:
       bash -c "
       ssh service restart;
       python3 /root/AirStack/gcs/foxglove_extensions/install.sh;
+      python3 /root/AirStack/gcs/foxglove_extensions/render_layout.py || true;
       tmux new -d -s bringup;
       if [ $$AUTOLAUNCH = 'true' ]; then
         tmux send-keys -t bringup:0.0 'bws &&  sws; ros2 launch desktop_bringup gcs.launch.xml' ENTER;
@@ -58,7 +59,7 @@ services:
       # waypoint/polygon editor saves (so they survive container restarts)
       - ../saves:/root/.airstack:rw
       # foxglove extensions
-      - ../foxglove_extensions:/root/AirStack/gcs/foxglove_extensions:ro
+      - ../foxglove_extensions:/root/AirStack/gcs/foxglove_extensions:rw
       # autonomy stack stuff
       - ../../common/ros_packages:/root/AirStack/gcs/ros_ws/src/common:rw
       - ../../common/fastdds.xml:/root/AirStack/gcs/ros_ws/src/fastdds.xml