docs(beast): cockpit bridge enabled and verified live on beast-01 - #163
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beast-cockpit.service is now enabled+active (was disabled/inactive), the monorepo cutover is deployed (legacy ugv_ws gone), rosbridge is up on 127.0.0.1:9090, tailscale serve fronts it over the tailnet, and the DISARM/RE-ARM round trip via /ugv/set_allow_motion was verified over the bridge. allow_motion left true (armed).
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PR Summary by Qododocs(beast): Update beast-01 quick-connect for live cockpit/rosbridge setup
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High-Level Assessment
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Pull request overview
Updates docs/beast-ops.md to reflect the newly verified (2026-08-03) live state of BEAST-01 connectivity and cockpit/rosbridge availability, ensuring operators follow current on-robot reality rather than stale deployment assumptions.
Changes:
- Refreshes the Quick connect block to reflect the monorepo cutover deployment and current workspace path.
- Documents
beast-cockpit.serviceas enabled/active and describes the rosbridge endpoint via Tailscale Serve. - Records a verified DISARM/RE-ARM round trip via
/ugv/set_allow_motion.
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| `~/beast/RobotOverview/robot/beast/ros2_ws`). `beast-ros-base.service` and | ||
| `beast-cockpit.service` are both **enabled and active**. `beast-cockpit` serves the | ||
| rosbridge on `127.0.0.1:9090`, fronted over the tailnet by | ||
| `sudo tailscale serve --https=443 http://127.0.0.1:9090` → `https://beast-01.tyrannosaurus-magellanic.ts.net/`. |
| The DISARM/RE-ARM round trip over that bridge via `/ugv/set_allow_motion` was verified live | ||
| (2026-08-03) and `allow_motion` was left `true` (armed). Network-path details below were | ||
| last fully verified 2026-07-31 unless marked newer. |
Code Review by Qodo
1. Cockpit status contradicts runbook
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![qodo-code-review[bot]](https://avatars.githubusercontent.com/in/484649?s=60&v=4){kind=small}
| rosbridge on `127.0.0.1:9090`, fronted over the tailnet by | ||
| `sudo tailscale serve --https=443 http://127.0.0.1:9090` → `https://beast-01.tyrannosaurus-magellanic.ts.net/`. |
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1. Rosbridge url ambiguity 🐞 Bug ≡ Correctness
Quick connect presents the bridge as an https://... URL and omits the --bg form used elsewhere, but the cockpit/client connection is explicitly documented as wss://... in existing cockpit docs. This ambiguity can cause operators to copy/paste the wrong protocol/command when configuring or troubleshooting cockpit connectivity.
Agent Prompt
### Issue description
`docs/beast-ops.md` Quick connect shows the cockpit bridge being fronted as `https://...`, but other authoritative cockpit docs describe the client endpoint as `wss://...` and standardize the `tailscale serve` invocation with `--bg`. This can mislead operators into using the wrong scheme in clients or thinking the endpoint is a normal HTTPS page.
### Issue Context
Tailscale Serve terminates HTTPS and can proxy WebSockets, so the public hostname is the same, but clients should be pointed at a `wss://` URL (as the cockpit docs/README already state).
### Fix Focus Areas
- docs/beast-ops.md[10-18]
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| `~/beast/RobotOverview/robot/beast/ros2_ws`). `beast-ros-base.service` and | ||
| `beast-cockpit.service` are both **enabled and active**. `beast-cockpit` serves the |
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2. Cockpit status contradicts runbook 🐞 Bug ≡ Correctness
Quick connect now states beast-cockpit.service is enabled/active and tailscale serve is fronting the bridge, but later in the same runbook it still says BEAST-01 does not currently have the cockpit service/proxy configured and that cockpit telemetry/controls are not live. This makes the runbook self-contradictory for operators trying to decide whether cockpit is actually deployed.
Agent Prompt
### Issue description
`docs/beast-ops.md` now contains conflicting claims about cockpit deployment: the Quick connect block says the cockpit service is enabled/active and the bridge is served over the tailnet, while a later (dated) acceptance note still claims cockpit is not installed/enabled and not live.
### Issue Context
If the later bullets are intended as historical notes, they should be rewritten in past tense and/or explicitly marked as superseded by the newer Quick connect verification.
### Fix Focus Areas
- docs/beast-ops.md[10-18]
- docs/beast-ops.md[230-237]
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| The DISARM/RE-ARM round trip over that bridge via `/ugv/set_allow_motion` was verified live | ||
| (2026-08-03) and `allow_motion` was left `true` (armed). Network-path details below were |
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3. Armed state lacks safe closeout 🐞 Bug ☼ Reliability
Quick connect records that after testing /ugv/set_allow_motion, allow_motion was left true (armed) without an explicit “return to safe state” step. This is risky framing in an ops runbook given the same document warns about prior/unfinished stop-on-silence safety verification while allow_motion is true.
Agent Prompt
### Issue description
The Quick connect verification note ends in an armed state (`allow_motion=true`) without guidance to disarm when done. In an operational runbook, this should either (a) explicitly state it was re-disarmed after the verification, or (b) include a clear instruction to disarm unless actively supervising motion.
### Issue Context
The same doc contains strong warnings about motion continuing on command silence and that the watchdog behavior was not yet re-tested, which increases the importance of leaving the robot in a known-safe state.
### Fix Focus Areas
- docs/beast-ops.md[10-18]
- docs/beast-ops.md[216-226]
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| `~/beast/ugv_ws` checkout is at `2d1eab7`; `beast-ros-base.service` is active and | ||
| `beast-cockpit.service` is inactive. The monorepo cutover described below has not yet been | ||
| deployed. Network-path details below were last fully verified 2026-07-31 unless marked newer. | ||
| `~/beast/ugv_ws` checkout is gone and the monorepo cutover is deployed (workspace at |
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After this cutover, anyone following the mandatory Ground-truth check at lines 121–125 will still run source ~/beast/ugv_ws/install/setup.bash. Because this change says that checkout has been removed and the command chains operations with &&, execution stops before the topic, voltage, and publisher checks, leaving the prescribed live-verification path unusable; update it to source the install under ~/beast/RobotOverview/robot/beast/ros2_ws.
AGENTS.md reference: AGENTS.md:L99-L106
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| `~/beast/ugv_ws` checkout is gone and the monorepo cutover is deployed (workspace at | ||
| `~/beast/RobotOverview/robot/beast/ros2_ws`). `beast-ros-base.service` and |
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This cutover removes the previously recorded live commit 2d1eab7 but replaces it only with a directory. The deployment recipe at lines 173–182 explicitly requires git -C ~/beast/RobotOverview rev-parse --short HEAD to be recorded in Quick connect, and because deployments are manual (lines 185–186), the path cannot establish which revision the services are actually running; record the live monorepo HEAD so later operators can correlate behavior with source.
AGENTS.md reference: AGENTS.md:L94-L106
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| `beast-cockpit.service` are both **enabled and active**. `beast-cockpit` serves the | ||
| rosbridge on `127.0.0.1:9090`, fronted over the tailnet by | ||
| `sudo tailscale serve --https=443 http://127.0.0.1:9090` → `https://beast-01.tyrannosaurus-magellanic.ts.net/`. |
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These lines now declare beast-cockpit.service active and Tailscale Serve configured, while docs/deploy.md lines 61–65 still tell deployment operators that the service has not been installed or enabled and that Serve has not been configured. That leaves the designated deployment-state document reporting the exact opposite of this live verification, which can cause operators to repeat rollout steps or diagnose the transport as absent; update that section while retaining the separate fact that the Hangar's BEAST_COCKPIT_WS_URL remains unconfigured.
AGENTS.md reference: AGENTS.md:L108-L116
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User description
Updates the Quick connect block to current verified state (2026-08-03):
CodeAnt-AI Description
Document the verified live cockpit bridge and armed robot state
What Changed
Impact
✅ Clearer live robot connection steps✅ Confirmed cockpit service availability✅ Verified remote motion-control access💡 Usage Guide
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