[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>

src/gps_denied_onboard/components/c5_state/gtsam_isam2_estimator.py

@@ -39,6 +39,17 @@ from uuid import UUID, uuid4
 import gtsam
 import gtsam_unstable
 import numpy as np
+
+# gtsam >=4.3a0 (aarch64 pre-release) moved IncrementalFixedLagSmoother and
+# FixedLagSmootherKeyTimestampMap to the main gtsam module. Fall back to gtsam
+# when gtsam_unstable no longer carries these symbols so the estimator works
+# on both 4.2.x (x86_64 PyPI) and 4.3a0 (aarch64 pre-release).
+try:
+    _IncrementalFixedLagSmoother = gtsam_unstable.IncrementalFixedLagSmoother
+    _FixedLagSmootherKeyTimestampMap = gtsam_unstable.FixedLagSmootherKeyTimestampMap
+except AttributeError:
+    _IncrementalFixedLagSmoother = gtsam.IncrementalFixedLagSmoother
+    _FixedLagSmootherKeyTimestampMap = gtsam.FixedLagSmootherKeyTimestampMap
 from numpy.linalg import LinAlgError
 
 from gps_denied_onboard._types.geo import LatLonAlt
@@ -168,7 +179,7 @@ class GtsamIsam2StateEstimator(StateEstimator):
 
         self._isam2 = gtsam.ISAM2(gtsam.ISAM2Params())
         window_seconds: float = block.keyframe_window_size * _FRAME_PERIOD_S
-        self._smoother = gtsam_unstable.IncrementalFixedLagSmoother(window_seconds)
+        self._smoother = _IncrementalFixedLagSmoother(window_seconds)
         self._graph = gtsam.NonlinearFactorGraph()
         self._values = gtsam.Values()
 
@@ -1689,14 +1700,14 @@ def _build_pose_noise(covariance: Any | None) -> gtsam.noiseModel.Base:
 
 def _make_timestamp_map(
     keys: list[int], ts_ns: int
-) -> gtsam_unstable.FixedLagSmootherKeyTimestampMap:
+) -> _FixedLagSmootherKeyTimestampMap:
     """Build a ``FixedLagSmootherKeyTimestampMap`` for the smoother.
 
     The smoother needs per-key arrival timestamps in seconds (its
     sliding-window evict logic uses them); we feed every newly
     inserted key the same window-end timestamp.
     """
-    ts_map = gtsam_unstable.FixedLagSmootherKeyTimestampMap()
+    ts_map = _FixedLagSmootherKeyTimestampMap()
     ts_seconds = ts_ns * 1e-9
     for key in keys:
         ts_map.insert((key, ts_seconds))

src/gps_denied_onboard/runtime_root/inference_factory.py

@@ -20,6 +20,13 @@ from typing import TYPE_CHECKING
 
 from gps_denied_onboard.runtime_root.errors import RuntimeNotAvailableError
 
+# Eager package import so c7_inference.__init__.py runs
+# `register_component_block("c7_inference", C7InferenceConfig)` before
+# `_c7_config(config)` reads `config.components["c7_inference"]` below.
+# The package __init__.py is import-safe (no concrete strategy modules)
+# per the Risk-2 mitigation documented in c7_inference/__init__.py.
+import gps_denied_onboard.components.c7_inference  # noqa: F401
+
 if TYPE_CHECKING:
     from gps_denied_onboard.components.c7_inference import (
         C7InferenceConfig,