[AZ-701] Fix Jetson e2e harness infrastructure blockers

- gtsam_isam2_estimator: shim for gtsam>=4.3a0 aarch64 pre-release
  where IncrementalFixedLagSmoother/FixedLagSmootherKeyTimestampMap
  moved from gtsam_unstable to gtsam
- inference_factory: eager import of c7_inference package so
  register_component_block runs before config.components is read
- docker-compose.test.jetson.yml: remove companion and
  operator-orchestrator (not needed by replay CLI tests and crash
  in test env due to AZ-618 live-mode deps); add db-migrate and
  tile-init setup-profile services for Alembic migrations and FAISS
  fixture provisioning; update e2e-runner depends_on to db only
- scripts/mk_test_faiss_fixture.py: generate minimal HNSW32 FAISS
  descriptor index into the tile-data volume for the test harness

Co-authored-by: Cursor <cursoragent@cursor.com>

docker-compose.test.jetson.yml

@@ -33,31 +33,66 @@
 # gps-denied client (AZ-691) lands.
 
 services:
-  companion:
-    extends:
-      file: docker-compose.yml
-      service: companion
-    environment:
-      LOG_LEVEL: INFO
-      # Jetson is the canonical test env (2026-05-20 policy); the FAISS
-      # HNSW descriptor index is required by c2_vpr in this binary.
-      # Without this flag airborne_bootstrap fails at
-      # _build_c6_descriptor_index → RuntimeNotAvailableError. faiss-cpu
-      # is installed via the [dev] extra; the gate is build-flag, not
-      # wheel availability.
-      BUILD_FAISS_INDEX: "ON"
+  # ------------------------------------------------------------------
+  # Init services (profiles: [setup]) — NOT started by the default
+  # `docker compose up`. They are invoked explicitly as one-shot jobs
+  # via `docker compose run --rm --profile setup <service>` before the
+  # main harness run:
+  #
+  #   1. db-migrate  — applies Alembic migrations so companion's
+  #      FreshnessGate / PostgresFilesystemStore find their tables.
+  #      (AZ-618 ordering gap: build_pre_constructed queries the DB
+  #      before the composition root can call apply_migrations.)
+  #
+  #   2. tile-init   — writes a minimal valid HNSW32 FAISS descriptor
+  #      index into the tile-data volume so FaissDescriptorIndex._load()
+  #      succeeds during build_pre_constructed.
+  #      (AZ-618 gap: the production provisioning pipeline normally
+  #      writes the index; in the test harness it must pre-exist.)
+  #
+  # They are in profile "setup" so they do not participate in the
+  # default `docker compose up` and do not trip --abort-on-container-exit.
+  # ------------------------------------------------------------------
+  db-migrate:
+    profiles: ["setup"]
+    image: gps-denied-onboard/e2e-runner:jetson
+    entrypoint: ["alembic"]
+    command: ["upgrade", "head"]
+    working_dir: /opt/project
+    volumes:
+      - .:/opt/project:ro
+    depends_on:
+      db:
+        condition: service_healthy
+    restart: "no"
 
-  operator-orchestrator:
-    extends:
-      file: docker-compose.yml
-      service: operator-orchestrator
-    environment:
-      BUILD_FAISS_INDEX: "ON"
+  tile-init:
+    profiles: ["setup"]
+    image: gps-denied-onboard/e2e-runner:jetson
+    entrypoint: ["python3"]
+    command: ["/opt/project/scripts/mk_test_faiss_fixture.py"]
+    volumes:
+      - .:/opt/project:ro
+      - tile-data:/var/lib/gps-denied/tiles
+    restart: "no"
 
-  mock-sat:
-    extends:
-      file: docker-compose.yml
-      service: mock-sat
+  # companion and operator-orchestrator are intentionally absent from
+  # the Jetson e2e test harness.
+  #
+  # Every test in tests/e2e/replay/ invokes the ``gps-denied-replay``
+  # console-script directly as a subprocess and does not call the
+  # companion or operator-orchestrator HTTP APIs. Including either
+  # service caused the harness to abort before any test could run:
+  #
+  # * companion crashes at startup because live-mode requires a
+  #   production-provisioned C7 inference engine (PyTorch FP16 or
+  #   TensorRT) that is absent from the test environment. This is the
+  #   pre-existing AZ-618 gap (build_pre_constructed fails before the
+  #   composition root can apply_migrations + engine artifacts).
+  # * operator-orchestrator crashed for the same C7 inference reason.
+  #
+  # When the AZ-618 epic ships the full airborne boot-up in a sandboxed
+  # environment (Phase E / engine stubs), companion can be re-added here.
 
   db:
     extends:
@@ -81,10 +116,6 @@ services:
               count: all
               capabilities: [gpu]
     depends_on:
-      companion:
-        condition: service_healthy
-      mock-sat:
-        condition: service_healthy
       db:
         condition: service_healthy
     environment:
@@ -96,6 +127,9 @@ services:
       # execute. This is the WHOLE POINT of the Jetson harness.
       GPS_DENIED_TIER: "2"
       DB_URL: postgresql://gps_denied:dev@db:5432/gps_denied
+      # SATELLITE_PROVIDER_URL / COMPANION_URL are set but not used by
+      # the replay CLI tests (gps-denied-replay runs as a subprocess and
+      # does not call the companion or satellite-provider HTTP APIs).
       SATELLITE_PROVIDER_URL: http://mock-sat:5100
       COMPANION_URL: http://companion:8080
       CAMERA_CALIBRATION_PATH: /opt/tests/fixtures/calibration/adti26.json