feat(demos,deploy,docs): migrate off blessed postgres/s3/console (#471)

Per ADR-0003 and the #470 recipes, postgres/s3(records)/console are pure
Vector-sink wrappers with no DC-specific logic, so every demo, deploy param
file and doc example that configured them via the blessed ROS-param form now
uses the ADR-0003 passthrough (custom_config_files) instead, ahead of #472's
removal of that blessed code path.

What moved: dc_demos/params/*.yaml (10 demos), deploy/robot/params/
aio_params_local.yaml, and the doc pages listing worked examples of these
Destination types (uptime_stdout, elasticsearch, mcap_recording,
fastdds_stats_pgsql_grafana, qrcodes_minio_pgsql, tb3_aws_minio_pgsql,
tb3_aws_influxdb's stale cross-reference, configuration_examples, concepts,
raw_topics, demos). A `file` Destination is the passthrough's required
anchor throughout (dc_bridge derives its ROS subscriptions and dc.<tag>
routes from `destinations` alone, never from a snippet's `inputs`).

Two things deliberately did not move, both verified against dc_bridge's own
source, not assumed:
- `s3`/`receives: files` stays blessed everywhere it appears (qrcodes_minio_
  pgsql, tb3_simulation_pgsql_minio, camera.md, configuration_examples
  Example 9): it is served entirely by dc_uploader reading these same ROS
  params, never by a Vector sink, so there is no passthrough equivalent.
- deploy/robot/params/robot_params_local.yaml keeps blessed `postgres`:
  that scenario runs `shipper.managed: false` (the three-container split),
  and custom_config_files snippets are only wired into the config reaching
  the separate `vector` container in *managed* mode -- confirmed by actually
  standing the split topology up with a passthrough sink and finding no
  `pgsql` sink in the rendered vector.toml at all. Left blessed with a
  comment explaining the gap rather than shipping a silently-broken config;
  worth its own follow-up issue against dc_bridge/the split-deployment
  compose+quadlet units.

Verified for real, not just visually inspected: every touched dc_demos demo
was launched (Gazebo-based ones DC-only, synthetic ROS messages standing in
for Nav2/camera output per the issue's own guidance, since navigation
behavior is untouched by this change) and its passthrough sink's actual
delivery confirmed -- rows in PostgreSQL, documents in a live Elasticsearch,
the .mcap file and console/file output. aio_params_local.yaml's managed-mode
passthrough was validated end to end via its real compose stack, including
`vector validate` against the rendered config plus the passthrough snippet.

Closes #471

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01WYVDzgJx2xLAzixNFm7b7H
Signed-off-by: David Bensoussan <d.bensoussan@proton.me>

Author: Minipada

dc_demos/config/fastdds_stats_pgsql_grafana_sink.toml

@@ -0,0 +1,19 @@
+# SPDX-FileCopyrightText: 2022-2026 David Bensoussan
+# SPDX-License-Identifier: MPL-2.0
+
+# ADR-0003 passthrough equivalent of the blessed `postgres` Destination, for the
+# fastdds_stats_pgsql_grafana demo -- see
+# doc/src/dc/destinations.md#recipes-postgres-s3-console-via-passthrough.
+#
+# Copied into place before launching:
+#   mkdir -p ~/.dc && cp "$(ros2 pkg prefix dc_demos)/share/dc_demos/config/fastdds_stats_pgsql_grafana_sink.toml" ~/.dc/
+
+[sinks.pgsql]
+type = "postgres"
+inputs = ["dc.dc.measurement.fastdds_stats"]
+endpoint = "postgres://dc:password@127.0.0.1:5432/dc"  # user:password@host:port/database
+table = "dc"
+
+[sinks.pgsql.buffer]
+type = "disk"
+max_size = 268435488   # Vector's disk-buffer minimum; a passthrough sink gets none by default

dc_demos/config/group_memory_uptime_stdout_sink.toml

@@ -0,0 +1,17 @@
+# SPDX-FileCopyrightText: 2022-2026 David Bensoussan
+# SPDX-License-Identifier: MPL-2.0
+
+# ADR-0003 passthrough equivalent of the blessed `console` Destination, for the
+# group_memory_uptime_stdout demo -- see
+# doc/src/dc/destinations.md#recipes-postgres-s3-console-via-passthrough.
+#
+# Copied into place before launching:
+#   mkdir -p ~/.dc && cp "$(ros2 pkg prefix dc_demos)/share/dc_demos/config/group_memory_uptime_stdout_sink.toml" ~/.dc/
+
+[sinks.debug_console]
+type = "console"
+inputs = ["dc.dc.group.memory_uptime"]
+target = "stdout"
+
+[sinks.debug_console.encoding]
+codec = "json"

dc_demos/config/qrcodes_minio_pgsql_sink.toml

@@ -0,0 +1,37 @@
+# SPDX-FileCopyrightText: 2022-2026 David Bensoussan
+# SPDX-License-Identifier: MPL-2.0
+
+# ADR-0003 passthrough equivalent of the blessed `postgres` Destinations, for the
+# qrcodes_minio_pgsql demo -- see
+# doc/src/dc/destinations.md#recipes-postgres-s3-console-via-passthrough.
+#
+# Copied into place before launching:
+#   mkdir -p ~/.dc && cp "$(ros2 pkg prefix dc_demos)/share/dc_demos/config/qrcodes_minio_pgsql_sink.toml" ~/.dc/
+
+[sinks.pgsql]
+type = "postgres"
+inputs = [
+  "dc.dc.measurement.map",
+  "dc.dc.measurement.right_camera",
+  "dc.dc.measurement.left_camera",
+  "dc.dc.group.robot",
+]
+endpoint = "postgres://dc:password@127.0.0.1:5432/dc"  # user:password@host:port/database
+table = "dc"
+
+[sinks.pgsql.buffer]
+type = "disk"
+max_size = 268435488   # Vector's disk-buffer minimum; a passthrough sink gets none by default
+
+# File status Records (ADR-0005): `records_log`'s params/qrcodes_minio_pgsql.yaml block
+# names it as `files.metadata_destination`, which appends the `dc.files` Tag to its
+# routed set -- consumed here exactly like any other `dc.<tag>` route.
+[sinks.pgsql_files]
+type = "postgres"
+inputs = ["dc.dc.files"]
+endpoint = "postgres://dc:password@127.0.0.1:5432/dc"
+table = "dc_files"
+
+[sinks.pgsql_files.buffer]
+type = "disk"
+max_size = 268435488

dc_demos/config/qrcodes_stdout_sink.toml

@@ -0,0 +1,17 @@
+# SPDX-FileCopyrightText: 2022-2026 David Bensoussan
+# SPDX-License-Identifier: MPL-2.0
+
+# ADR-0003 passthrough equivalent of the blessed `console` Destination, for the
+# qrcodes_stdout demo -- see
+# doc/src/dc/destinations.md#recipes-postgres-s3-console-via-passthrough.
+#
+# Copied into place before launching:
+#   mkdir -p ~/.dc && cp "$(ros2 pkg prefix dc_demos)/share/dc_demos/config/qrcodes_stdout_sink.toml" ~/.dc/
+
+[sinks.debug_console]
+type = "console"
+inputs = ["dc.dc.measurement.right_camera", "dc.dc.measurement.left_camera"]
+target = "stdout"
+
+[sinks.debug_console.encoding]
+codec = "json"

dc_demos/config/tb3_simulation_pgsql_minio_sink.toml

@@ -0,0 +1,46 @@
+# SPDX-FileCopyrightText: 2022-2026 David Bensoussan
+# SPDX-License-Identifier: MPL-2.0
+
+# ADR-0003 passthrough equivalent of the blessed `postgres` Destinations, for the
+# tb3_simulation_pgsql_minio demo -- see
+# doc/src/dc/destinations.md#recipes-postgres-s3-console-via-passthrough.
+#
+# Copied into place before launching:
+#   mkdir -p ~/.dc && cp "$(ros2 pkg prefix dc_demos)/share/dc_demos/config/tb3_simulation_pgsql_minio_sink.toml" ~/.dc/
+
+[sinks.pgsql]
+type = "postgres"
+inputs = [
+  "dc.dc.measurement.cpu",
+  "dc.dc.measurement.memory",
+  "dc.dc.measurement.os",
+  "dc.dc.measurement.uptime",
+  "dc.dc.measurement.camera",
+  "dc.dc.measurement.cmd_vel",
+  "dc.dc.measurement.distance_traveled",
+  "dc.dc.measurement.driving_type",
+  "dc.dc.measurement.position",
+  "dc.dc.measurement.speed",
+  "dc.dc.measurement.map",
+  "dc.dc.measurement.rustfs_health",
+  "dc.dc.measurement.pgsql_health",
+]
+endpoint = "postgres://dc:password@127.0.0.1:5432/dc"  # user:password@host:port/database
+table = "dc"
+
+[sinks.pgsql.buffer]
+type = "disk"
+max_size = 268435488   # Vector's disk-buffer minimum; a passthrough sink gets none by default
+
+# File status Records (ADR-0005): `records_log`'s params/tb3_simulation_pgsql_minio.yaml
+# block names it as `files.metadata_destination`, which appends the `dc.files` Tag to
+# its routed set -- consumed here exactly like any other `dc.<tag>` route.
+[sinks.pgsql_files]
+type = "postgres"
+inputs = ["dc.dc.files"]
+endpoint = "postgres://dc:password@127.0.0.1:5432/dc"
+table = "dc_files"
+
+[sinks.pgsql_files.buffer]
+type = "disk"
+max_size = 268435488

dc_demos/config/tb3_simulation_stdout_sink.toml

@@ -0,0 +1,17 @@
+# SPDX-FileCopyrightText: 2022-2026 David Bensoussan
+# SPDX-License-Identifier: MPL-2.0
+
+# ADR-0003 passthrough equivalent of the blessed `console` Destination, for the
+# tb3_simulation_stdout demo -- see
+# doc/src/dc/destinations.md#recipes-postgres-s3-console-via-passthrough.
+#
+# Copied into place before launching:
+#   mkdir -p ~/.dc && cp "$(ros2 pkg prefix dc_demos)/share/dc_demos/config/tb3_simulation_stdout_sink.toml" ~/.dc/
+
+[sinks.debug_console]
+type = "console"
+inputs = ["dc.dc.group.robot", "dc.dc.measurement.map"]
+target = "stdout"
+
+[sinks.debug_console.encoding]
+codec = "json"

dc_demos/config/uptime_custom_stdout_sink.toml

@@ -0,0 +1,17 @@
+# SPDX-FileCopyrightText: 2022-2026 David Bensoussan
+# SPDX-License-Identifier: MPL-2.0
+
+# ADR-0003 passthrough equivalent of the blessed `console` Destination, for the
+# uptime_custom_stdout demo -- see
+# doc/src/dc/destinations.md#recipes-postgres-s3-console-via-passthrough.
+#
+# Copied into place before launching:
+#   mkdir -p ~/.dc && cp "$(ros2 pkg prefix dc_demos)/share/dc_demos/config/uptime_custom_stdout_sink.toml" ~/.dc/
+
+[sinks.debug_console]
+type = "console"
+inputs = ["dc.dc.measurement.uptime_custom"]
+target = "stdout"
+
+[sinks.debug_console.encoding]
+codec = "json"

dc_demos/config/uptime_stdout_sink.toml

@@ -0,0 +1,17 @@
+# SPDX-FileCopyrightText: 2022-2026 David Bensoussan
+# SPDX-License-Identifier: MPL-2.0
+
+# ADR-0003 passthrough equivalent of the blessed `console` Destination, for the
+# uptime_stdout demo (doc/src/dc/demos/uptime_stdout.md) -- see
+# doc/src/dc/destinations.md#recipes-postgres-s3-console-via-passthrough.
+#
+# Copied into place before launching:
+#   mkdir -p ~/.dc && cp "$(ros2 pkg prefix dc_demos)/share/dc_demos/config/uptime_stdout_sink.toml" ~/.dc/
+
+[sinks.debug_console]
+type = "console"
+inputs = ["dc.dc.measurement.uptime"]
+target = "stdout"
+
+[sinks.debug_console.encoding]
+codec = "json"

dc_demos/params/elasticsearch.yaml

@@ -14,11 +14,14 @@ dc_bridge:
     # `destinations` still has to name at least one blessed Destination, and the routes
     # the snippet consumes exist only for topics listed in *its* `inputs` — dc_bridge
     # derives both its ROS subscriptions and its route branches from `destinations`, and
-    # never reads the snippet's `inputs`. `console` is the cheapest thing to put there,
-    # and doubles as a local view of the same Records that land in Elasticsearch.
-    destinations: ["console"]
-    console:
-      type: console
+    # never reads the snippet's `inputs`. `console` used to be the cheapest thing to put
+    # here, doubling as a local view of the same Records that land in Elasticsearch;
+    # blessed `console` is retired in favor of the ADR-0003 passthrough recipe (#471,
+    # see doc/src/dc/destinations.md#recipes-postgres-s3-console-via-passthrough), so
+    # `file` is the anchor now instead.
+    destinations: ["records_log"]
+    records_log:
+      type: file
       receives: records
       inputs:
         [
@@ -27,6 +30,7 @@ dc_bridge:
           "/dc/measurement/os",
           "/dc/measurement/uptime",
         ]
+      path: "/tmp/dc/elasticsearch_records.ndjson"
       time_key: "date"
       time_format: "double"
     custom_config_files: ["$HOME/.dc/elasticsearch_sink.toml"]

dc_demos/params/fastdds_stats_pgsql_grafana.yaml

@@ -5,19 +5,21 @@ dc_bridge:
   ros__parameters:
     shipper:
       data_dir: "$HOME/.dc/buffer"
-    destinations: ["pgsql"]
-    pgsql:
-      type: postgres
+    # blessed `postgres` is retired in favor of the ADR-0003 passthrough recipe (#471,
+    # see doc/src/dc/destinations.md#recipes-postgres-s3-console-via-passthrough); `file`
+    # is the anchor Destination `destinations` still needs -- dc_bridge derives its ROS
+    # subscriptions and `dc.<tag>` routes from `destinations` alone, never from a
+    # passthrough snippet's `inputs`. Copy the passthrough sink into place first:
+    #   mkdir -p ~/.dc && cp "$(ros2 pkg prefix dc_demos)/share/dc_demos/config/fastdds_stats_pgsql_grafana_sink.toml" ~/.dc/
+    destinations: ["records_log"]
+    records_log:
+      type: file
       receives: records
       inputs: ["/dc/measurement/fastdds_stats"]
-      host: "127.0.0.1"
-      port: 5432
-      user: "dc"
-      password: "password"
-      database: "dc"
-      table: "dc"
+      path: "/tmp/dc/fastdds_stats_pgsql_grafana_records.ndjson"
       time_key: "date"
       time_format: "double"
+    custom_config_files: ["$HOME/.dc/fastdds_stats_pgsql_grafana_sink.toml"]
     vector_forward_host: "127.0.0.1"
     vector_forward_port: 24224