BumblebeeAS · MonkeScripts · Aug 22, 2026 · Aug 22, 2026 · Aug 22, 2026 · Aug 23, 2026
diff --git a/multivehicle/docker/Dockerfile b/multivehicle/docker/Dockerfile
@@ -116,7 +116,8 @@ RUN /opt/ros/jazzy/lib/mavros/install_geographiclib_datasets.sh
 # Pinned protoc 33 baked offline to /opt/protoc (supports edition = "2024").
 # Installed off the system path so it never shadows /usr/bin/protoc;
 # setup_dashboard.sh wires it into the dashboard's third_party/protoc/.
-ARG PROTOC_VERSION=33.0
+# 35.x matches the RobotX_2026 upstream generation (7.35 gencode).
+ARG PROTOC_VERSION=35.1
 RUN <<EOF
 arch="$(uname -m)"
 case "${arch}" in
@@ -139,7 +140,7 @@ RUN pip3 install --no-cache-dir --break-system-packages \
         'uvicorn[standard]' \
         'pydantic' \
         'pydantic-settings' \
-        'protobuf>=6.33,<8' \
+        'protobuf>=7.35,<8' \
         'tmuxp'
 
 # --------------------------------------------------------------------------- #
@@ -289,6 +290,8 @@ COPY --from=ardupilot-builder /root/auv/ardupilot/build/sitl/bin/ardusub /usr/lo
 # mission_planner_2). Kept in `final` rather than `base` on purpose: touching this
 # list must not invalidate the px4-builder / ardupilot-builder caches.
 RUN apt-get update && apt-get install -y --no-install-recommends \
+    mosquitto \
+    mosquitto-clients \
     python3-transforms3d \
     ros-jazzy-navigation2 \
     ros-jazzy-nav2-bringup \
@@ -299,16 +302,28 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     apt-get clean && \
     rm -rf /var/lib/apt/lists/*
 
-RUN pip3 install --no-cache-dir --break-system-packages mavsdk
+# RoboCommand dev broker config (explicit listener; anonymous like upstream's
+# RobotX_2026 reference broker). Note Debian's packaged mosquitto.conf sets
+# `persistence true`, so retained messages survive broker restarts here —
+# unlike upstream's compose broker.
+COPY config/mosquitto-robocommand.conf /etc/mosquitto/conf.d/robocommand.conf
+
+RUN pip3 install --no-cache-dir --break-system-packages \
+        mavsdk \
+        'paho-mqtt>=2.1,<3'
 
 COPY scripts/setup_dashboard.sh /usr/local/bin/setup_dashboard.sh
 RUN chmod +x /usr/local/bin/setup_dashboard.sh
 RUN cat >> /root/.bashrc <<'EOF'
 
-# bb_robotx_dashboard runtime env
-export ROBOCOMMAND_HOST=localhost
-export ROBOCOMMAND_PORT=9000
-export ROBOCOMMAND_TEAM_ID=42
+# bb_robotx_dashboard runtime env (RobotX 2026 RoboCommand over MQTT)
+export MQTT_BROKER_HOST=localhost
+export MQTT_BROKER_PORT=1883
+export ROBOTX_TEAM_ID=RNRX
+# JSON — pydantic-settings parses complex types as JSON, not CSV.
+export ROBOTX_VEHICLE_IDS='["USV1","UUV1","UAV1"]'
+export HEARTBEAT_PERIOD_S=1.0
+export AUTO_ACK_COMMANDS=true
 export DASHBOARD_LISTEN_HOST=0.0.0.0
 export DASHBOARD_LISTEN_PORT=8080
 export DASHBOARD_ADMIN_SECRET=bumblebee

diff --git a/multivehicle/docker/config/mosquitto-robocommand.conf b/multivehicle/docker/config/mosquitto-robocommand.conf
@@ -0,0 +1,5 @@
+# RoboCommand dev broker (RobotX 2026). Explicit listener so the broker is
+# reachable beyond loopback fallback mode, matching upstream's
+# RobotX_2026/mosquitto/mosquitto.conf (anonymous, no TLS).
+listener 1883 0.0.0.0
+allow_anonymous true
diff --git a/multivehicle/docker/scripts/setup_dashboard.sh b/multivehicle/docker/scripts/setup_dashboard.sh
@@ -22,11 +22,18 @@ fi
 did_work=0
 
 # 1. Clone the upstream robocommand repo (provides the .proto source).
-if [ ! -d "${PKG_DIR}/third_party/robocommand/proto" ]; then
-    echo "[setup_dashboard] cloning robocommand proto source..."
-    git clone https://github.com/MonkeScripts/robocommand \
-        "${PKG_DIR}/third_party/robocommand" || true
-    did_work=1
+#    RobotX_2026/proto is the guard: a pre-RobotX (RoboBoat-era) checkout has
+#    only a top-level proto/ and must be deleted, not cloned into.
+RC_DIR="${PKG_DIR}/third_party/robocommand"
+if [ ! -d "${RC_DIR}/RobotX_2026/proto" ]; then
+    if [ -d "${RC_DIR}" ]; then
+        echo "[setup_dashboard] ${RC_DIR} is a stale pre-RobotX checkout." >&2
+        echo "[setup_dashboard] delete it and re-run:  rm -rf ${RC_DIR}" >&2
+    else
+        echo "[setup_dashboard] cloning robocommand proto source..."
+        git clone https://github.com/robonation/robocommand "${RC_DIR}" || true
+        did_work=1
+    fi
 fi
 
 # 2. Wire the image's pinned protoc 33 into third_party/protoc/ so
@@ -39,14 +46,21 @@ if [ ! -x "${PKG_DIR}/third_party/protoc/bin/protoc" ] \
     ln -sf /opt/protoc/bin/protoc "${PKG_DIR}/third_party/protoc/bin/protoc"
 fi
 
-# 3. Generate the Python protobuf bindings if missing.
-if [ -d "${PKG_DIR}/third_party/robocommand/proto" ] \
-        && [ ! -f "${PKG_DIR}/bb_robotx_dashboard/proto/report_pb2.py" ]; then
+# 3. Generate the Python protobuf bindings if missing. The sentinel is a
+#    RobotX-era module — keying on the old report_pb2.py would let a stale
+#    RoboBoat binding suppress regeneration forever.
+if [ -d "${RC_DIR}/RobotX_2026/proto" ] \
+        && [ ! -f "${PKG_DIR}/bb_robotx_dashboard/proto/robotx/rx_reports_pb2.py" ]; then
     echo "[setup_dashboard] compiling proto bindings..."
     ( cd "${PKG_DIR}" && bash scripts/compile_protos.sh ) || true
     did_work=1
 fi
 
+# 4. paho-mqtt 2.x fallback for containers built from a pre-MQTT image (the
+#    rebuilt image bakes it; apt's 1.x is not API-compatible).
+python3 -c "import paho.mqtt" 2>/dev/null || \
+    pip3 install --break-system-packages --no-cache-dir 'paho-mqtt>=2.1,<3' || true
+
 if [ ! -d "${PKG_DIR}/frontend/dist" ]; then
     cat <<MSG
 [setup_dashboard] dashboard tooling ready. Remaining manual steps:

diff --git a/multivehicle/tmuxp/mvsim.yaml b/multivehicle/tmuxp/mvsim.yaml
@@ -12,7 +12,7 @@
 #   2) bluerov    — attach the ArduSub BlueROV2 to the running world
 #   3) boat       — spawn the BlueBoat USV into the running world
 #   4) drone      — uXRCE-DDS agent + PX4 SITL x500 + gz<->ROS bridge (-> /x500/odom)
-#   5) dashboard  — web backend (:8080) + sim-side LED/incident bridges
+#   5) dashboard  — MQTT broker (:1883) + web backend (:8080) + monitor + sim-side bridges
 #
 #   WS_DIR=/root/HOST/my_ws tmuxp load .../mvsim.yaml
 
@@ -80,18 +80,25 @@ windows:
           - cmd: ros2 launch multivehicle_sim uav_gz.launch.py model_name:=x500_mono_cam_1
             enter: false
 
-  # 5. Dashboard — fake vehicle (top, RoboCommand TCP server on :9000 the backend
-  #    connects to), web backend (middle, http://localhost:8080), and the sim-side
+  # 5. Dashboard — RoboCommand MQTT broker (:1883), fake per-vehicle telemetry
+  #    (ROS 2 topics the backend relays to MQTT), web backend
+  #    (http://localhost:8080), a raw-frame monitor, and the sim-side
   #    LED/incident bridges (bottom) tracking all three vehicles' /…/odom.
   - window_name: dashboard
     layout: even-vertical
     panes:
       - shell_command:
-          - cmd: ros2 run bb_robotx_dashboard fake_vehicle_publisher --port 9000
+          - cmd: mosquitto -c /etc/mosquitto/mosquitto.conf -v
+            enter: false
+      - shell_command:
+          - cmd: ros2 run bb_robotx_dashboard fake_vehicle_publisher
             enter: false
       - shell_command:
           - cmd: ros2 launch bb_robotx_dashboard dashboard.launch.py
             enter: false
+      - shell_command:
+          - cmd: ros2 run bb_robotx_dashboard mqtt_spy
+            enter: false
       - shell_command:
           - cmd: ros2 launch bb_robotx_dashboard robotx_2026_sim.launch.py bridges_pkg:=robotx_gz models_pkg:=bb_worlds auv_name:=bluerov auv_pose_topic:=/bluerov/odom asv_name:=blueboat asv_pose_topic:=/blueboat/odom uav_name:=x500 uav_pose_topic:=/x500/odom
             enter: false
diff --git a/multivehicle/tmuxp/mvsim_debug.yaml b/multivehicle/tmuxp/mvsim_debug.yaml
@@ -10,7 +10,7 @@
 #   2) bluerov    — BlueROV2 + ArduSub/MAVROS, then its square mission BT
 #   3) boat       — BlueBoat spawn + control stack + square mission
 #   4) drone      — XRCE agent + PX4 SITL x500 + gz bridge + offboard demo BT
-#   5) dashboard  — web backend (:8080) + sim-side LED/incident bridges
+#   5) dashboard  — MQTT broker (:1883) + web backend (:8080) + monitor + sim-side bridges
 #   6) debug      — free shell + Foxglove bridge
 #
 # Workspace dir defaults to /root/HOST/mvsim_ws and the PX4 SITL install root to
@@ -53,7 +53,7 @@ windows:
           - cmd: ros2 launch multivehicle_sim bluerov.launch.py
             enter: false
       - shell_command:
-          - cmd: ros2 launch bluerov_tasks bluerov_square_bt.launch.py
+          - cmd: sleep 5 & ros2 launch bluerov_tasks bluerov_square_bt.launch.py
             enter: false
 
   # 3. BlueBoat
@@ -64,7 +64,7 @@ windows:
           - cmd: ros2 launch multivehicle_sim boat.launch.py
             enter: false
       - shell_command:
-          - cmd: ros2 launch multivehicle_examples boat_control.launch.py use_mission:=true
+          - cmd: sleep 5 & ros2 launch multivehicle_examples boat_control.launch.py use_mission:=true
             enter: false
 
   # 4. PX4 x500 drone
@@ -81,19 +81,25 @@ windows:
           - cmd: ros2 launch multivehicle_sim uav_gz.launch.py model_name:=x500_mono_cam_1
             enter: false
       - shell_command:
-          - cmd: ros2 launch multivehicle_examples px4_offboard.launch.py
+          - cmd: sleep 5 & ros2 launch multivehicle_examples px4_offboard.launch.py
             enter: false
 
-  # 5. Dashboard
+  # 5. Dashboard — broker, fake ROS telemetry, backend, MQTT monitor, bridges
   - window_name: dashboard
     layout: even-vertical
     panes:
       - shell_command:
-          - cmd: ros2 run bb_robotx_dashboard fake_vehicle_publisher --port 9000
+          - cmd: mosquitto -c /etc/mosquitto/mosquitto.conf -v
+            enter: false
+      - shell_command:
+          - cmd: ros2 run bb_robotx_dashboard fake_vehicle_publisher
             enter: false
       - shell_command:
           - cmd: ros2 launch bb_robotx_dashboard dashboard.launch.py
             enter: false
+      - shell_command:
+          - cmd: ros2 run bb_robotx_dashboard mqtt_spy
+            enter: false
       - shell_command:
           - cmd: ros2 launch bb_robotx_dashboard robotx_2026_sim.launch.py bridges_pkg:=robotx_gz models_pkg:=bb_worlds auv_name:=bluerov auv_pose_topic:=/bluerov/odom asv_name:=blueboat asv_pose_topic:=/blueboat/odom uav_name:=x500 uav_pose_topic:=/x500/odom
             enter: false