fix: use complete vendor message overlay for rosbag

tg3_local_teleop/README.md

@@ -179,6 +179,10 @@ MCAP 使用 `zstd_fast`、64 MiB cache、每 300 秒分片；每条 episode 最
 `manifest.json` 和 `READY`，最后才原子进入 `ready/`。Nvidia 需已安装 `python3-yaml`
 （现场已验证 PyYAML 6.0.1）。
 
+录制服务只加载厂家完整 `/opt/robot_tele_server/install` 消息 overlay，不加载本项目
+`ros2_py/install`；项目 overlay 仅供桥的 Python `ArmStatus` 绑定使用。两者混在同一个
+rosbag 环境会让部分 `ros2_bridge_msgs` C++ 类型支持出现动态库符号冲突。
+
 部署两个机器人侧服务：
 
 ```bash

tg3_local_teleop/run_data_recorder.sh

@@ -9,7 +9,6 @@ required_setups=(
   /opt/ros/jazzy/setup.bash
   /home/nvidia/xos/setup.bash
   /opt/robot_tele_server/install/setup.bash
-  "$APP_DIR/ros2_py/install/setup.bash"
 )
 for setup_file in "${required_setups[@]}"; do
   if [[ ! -f "$setup_file" ]]; then
@@ -19,6 +18,12 @@ for setup_file in "${required_setups[@]}"; do
   # shellcheck disable=SC1090
   source "$setup_file"
 done
+
+# Do not source $APP_DIR/ros2_py here.  That deliberately minimal package only
+# supplies the two Python wire types used by tg3_local_teleop.py; placing its
+# partial ros2_bridge_msgs libraries ahead of the vendor's complete C++ package
+# makes rosbag2 fail to load RobotState/ArmCtrl type support.  The recorder must
+# use /opt/robot_tele_server/install for the complete vendor message package.
 set -u
 
 exec python3 "$APP_DIR/data_recorder_node.py" \