feat: harden TG3 teleop and add right-B point gesture

tg3_local_teleop/wait_ros_ready.sh

@@ -0,0 +1,34 @@
+#!/usr/bin/env bash
+# Avoid creating the long-lived Fast DDS participant before the robot network
+# interfaces and the vendor ROS graph are available. A participant created
+# while the configured interface whitelist is empty does not recover later.
+set -eo pipefail
+
+source /opt/ros/jazzy/setup.bash
+if [[ -f /home/nvidia/xos/setup.bash ]]; then
+  source /home/nvidia/xos/setup.bash
+fi
+if [[ -f /opt/robot_tele_server/install/setup.bash ]]; then
+  source /opt/robot_tele_server/install/setup.bash
+fi
+
+required_topic="/hric/robot/rl_state"
+wait_seconds="${TG3_ROS_READY_WAIT_SECONDS:-120}"
+retry_seconds="${TG3_ROS_READY_RETRY_SECONDS:-2}"
+deadline=$((SECONDS + wait_seconds))
+
+while ((SECONDS < deadline)); do
+  # Capture first: grep -q in a pipe can close stdout early and make ros2
+  # report SIGPIPE under pipefail even though the topic was found.
+  topic_list="$(
+    timeout 8 ros2 topic list --no-daemon --spin-time 3 2>/dev/null || true
+  )"
+  if grep -Fxq "$required_topic" <<<"$topic_list"; then
+    echo "ROS discovery ready: $required_topic"
+    exit 0
+  fi
+  sleep "$retry_seconds"
+done
+
+echo "ROS discovery did not expose $required_topic within ${wait_seconds}s" >&2
+exit 1