diff --git a/demos/moveit_pick_place/arm-self-test.sh b/demos/moveit_pick_place/arm-self-test.sh
old mode 100644
new mode 100755
diff --git a/demos/moveit_pick_place/container_scripts/moveit-planning/inject-collision/script.bash b/demos/moveit_pick_place/container_scripts/moveit-planning/inject-collision/script.bash
index 3985905..5e39fcc 100644
--- a/demos/moveit_pick_place/container_scripts/moveit-planning/inject-collision/script.bash
+++ b/demos/moveit_pick_place/container_scripts/moveit-planning/inject-collision/script.bash
@@ -5,10 +5,13 @@
 
 set -eu
 
+# ROS setup.bash dereferences AMENT_TRACE_SETUP_FILES; relax nounset around it.
+set +u
 # shellcheck source=/dev/null
 source /opt/ros/jazzy/setup.bash
 # shellcheck source=/dev/null
 source /root/demo_ws/install/setup.bash
+set -u
 
 echo "Injecting COLLISION fault..."
 echo "   Spawning surprise obstacle in robot workspace"
diff --git a/demos/moveit_pick_place/container_scripts/moveit-planning/inject-planning-failure/script.bash b/demos/moveit_pick_place/container_scripts/moveit-planning/inject-planning-failure/script.bash
index 18d8d8c..3e93a15 100644
--- a/demos/moveit_pick_place/container_scripts/moveit-planning/inject-planning-failure/script.bash
+++ b/demos/moveit_pick_place/container_scripts/moveit-planning/inject-planning-failure/script.bash
@@ -5,10 +5,13 @@
 
 set -eu
 
+# ROS setup.bash dereferences AMENT_TRACE_SETUP_FILES; relax nounset around it.
+set +u
 # shellcheck source=/dev/null
 source /opt/ros/jazzy/setup.bash
 # shellcheck source=/dev/null
 source /root/demo_ws/install/setup.bash
+set -u
 
 echo "Injecting PLANNING FAILURE fault..."
 echo "   Adding collision wall between pick and place positions"
diff --git a/demos/moveit_pick_place/container_scripts/moveit-planning/restore-normal/script.bash b/demos/moveit_pick_place/container_scripts/moveit-planning/restore-normal/script.bash
index a50d81a..e9e02d7 100644
--- a/demos/moveit_pick_place/container_scripts/moveit-planning/restore-normal/script.bash
+++ b/demos/moveit_pick_place/container_scripts/moveit-planning/restore-normal/script.bash
@@ -4,10 +4,13 @@
 
 set -eu
 
+# ROS setup.bash dereferences AMENT_TRACE_SETUP_FILES; relax nounset around it.
+set +u
 # shellcheck source=/dev/null
 source /opt/ros/jazzy/setup.bash
 # shellcheck source=/dev/null
 source /root/demo_ws/install/setup.bash
+set -u
 
 GATEWAY_URL="${GATEWAY_URL:-http://localhost:8080}"
 API_BASE="${GATEWAY_URL}/api/v1"
diff --git a/demos/moveit_pick_place/planning-benchmark.sh b/demos/moveit_pick_place/planning-benchmark.sh
old mode 100644
new mode 100755
diff --git a/demos/moveit_pick_place/setup-triggers.sh b/demos/moveit_pick_place/setup-triggers.sh
index 06ff53e..3f2ed7b 100755
--- a/demos/moveit_pick_place/setup-triggers.sh
+++ b/demos/moveit_pick_place/setup-triggers.sh
@@ -2,8 +2,8 @@
 # Create fault-monitoring trigger for moveit pick-and-place demo
 # Alerts on any fault change reported by the manipulation monitor
 export ENTITY_TYPE="apps"
-# Uses ROS node name (underscore) - must match reporting_sources in FaultEvent
-export ENTITY_ID="manipulation_monitor"
+# Gateway normalises entity IDs with hyphens (matches the registered apps id).
+export ENTITY_ID="manipulation-monitor"
 export INJECT_HINT="./inject-planning-failure.sh"
 # shellcheck disable=SC1091
 source "$(cd "$(dirname "$0")" && pwd)/../../lib/setup-trigger.sh"
diff --git a/demos/moveit_pick_place/watch-triggers.sh b/demos/moveit_pick_place/watch-triggers.sh
index 4cae6e7..53651bf 100755
--- a/demos/moveit_pick_place/watch-triggers.sh
+++ b/demos/moveit_pick_place/watch-triggers.sh
@@ -2,6 +2,6 @@
 # Watch trigger events for moveit pick-and-place demo
 # Connects to SSE stream and prints fault events in real time
 export ENTITY_TYPE="apps"
-export ENTITY_ID="manipulation_monitor"
+export ENTITY_ID="manipulation-monitor"
 # shellcheck disable=SC1091
 source "$(cd "$(dirname "$0")" && pwd)/../../lib/watch-trigger.sh" "$@"
diff --git a/demos/multi_ecu_aggregation/container_scripts/actuation-ecu/inject-gripper-jam/script.bash b/demos/multi_ecu_aggregation/container_scripts/actuation-ecu/inject-gripper-jam/script.bash
index e0a2f64..6913093 100644
--- a/demos/multi_ecu_aggregation/container_scripts/actuation-ecu/inject-gripper-jam/script.bash
+++ b/demos/multi_ecu_aggregation/container_scripts/actuation-ecu/inject-gripper-jam/script.bash
@@ -2,10 +2,13 @@
 # Inject gripper jam - gripper controller stuck
 set -eu
 
+# ROS setup.bash dereferences AMENT_TRACE_SETUP_FILES; relax nounset around it.
+set +u
 # shellcheck source=/dev/null
 source /opt/ros/jazzy/setup.bash
 # shellcheck source=/dev/null
 source /root/demo_ws/install/setup.bash
+set -u
 
 ros2 param set /actuation/gripper_controller inject_jam true
 
diff --git a/demos/multi_ecu_aggregation/container_scripts/actuation-ecu/restore-normal/script.bash b/demos/multi_ecu_aggregation/container_scripts/actuation-ecu/restore-normal/script.bash
index bb583e7..a7d6e72 100644
--- a/demos/multi_ecu_aggregation/container_scripts/actuation-ecu/restore-normal/script.bash
+++ b/demos/multi_ecu_aggregation/container_scripts/actuation-ecu/restore-normal/script.bash
@@ -2,10 +2,13 @@
 # Reset all actuation node parameters to defaults
 set -eu
 
+# ROS setup.bash dereferences AMENT_TRACE_SETUP_FILES; relax nounset around it.
+set +u
 # shellcheck source=/dev/null
 source /opt/ros/jazzy/setup.bash
 # shellcheck source=/dev/null
 source /root/demo_ws/install/setup.bash
+set -u
 
 ERRORS=0
 
diff --git a/demos/multi_ecu_aggregation/container_scripts/perception-ecu/inject-sensor-failure/script.bash b/demos/multi_ecu_aggregation/container_scripts/perception-ecu/inject-sensor-failure/script.bash
index 321148f..4d784ce 100644
--- a/demos/multi_ecu_aggregation/container_scripts/perception-ecu/inject-sensor-failure/script.bash
+++ b/demos/multi_ecu_aggregation/container_scripts/perception-ecu/inject-sensor-failure/script.bash
@@ -2,10 +2,13 @@
 # Inject LiDAR sensor failure - high failure probability
 set -eu
 
+# ROS setup.bash dereferences AMENT_TRACE_SETUP_FILES; relax nounset around it.
+set +u
 # shellcheck source=/dev/null
 source /opt/ros/jazzy/setup.bash
 # shellcheck source=/dev/null
 source /root/demo_ws/install/setup.bash
+set -u
 
 ros2 param set /perception/lidar_driver failure_probability 0.8
 
diff --git a/demos/multi_ecu_aggregation/container_scripts/perception-ecu/restore-normal/script.bash b/demos/multi_ecu_aggregation/container_scripts/perception-ecu/restore-normal/script.bash
index 9f22b5b..23d7e73 100644
--- a/demos/multi_ecu_aggregation/container_scripts/perception-ecu/restore-normal/script.bash
+++ b/demos/multi_ecu_aggregation/container_scripts/perception-ecu/restore-normal/script.bash
@@ -2,10 +2,13 @@
 # Reset all perception node parameters to defaults
 set -eu
 
+# ROS setup.bash dereferences AMENT_TRACE_SETUP_FILES; relax nounset around it.
+set +u
 # shellcheck source=/dev/null
 source /opt/ros/jazzy/setup.bash
 # shellcheck source=/dev/null
 source /root/demo_ws/install/setup.bash
+set -u
 
 ERRORS=0
 
diff --git a/demos/multi_ecu_aggregation/container_scripts/planning-ecu/inject-planning-delay/script.bash b/demos/multi_ecu_aggregation/container_scripts/planning-ecu/inject-planning-delay/script.bash
index d48225b..d186826 100644
--- a/demos/multi_ecu_aggregation/container_scripts/planning-ecu/inject-planning-delay/script.bash
+++ b/demos/multi_ecu_aggregation/container_scripts/planning-ecu/inject-planning-delay/script.bash
@@ -2,10 +2,13 @@
 # Inject path planning delay - 5000ms processing time
 set -eu
 
+# ROS setup.bash dereferences AMENT_TRACE_SETUP_FILES; relax nounset around it.
+set +u
 # shellcheck source=/dev/null
 source /opt/ros/jazzy/setup.bash
 # shellcheck source=/dev/null
 source /root/demo_ws/install/setup.bash
+set -u
 
 ros2 param set /planning/path_planner planning_delay_ms 5000
 
diff --git a/demos/multi_ecu_aggregation/container_scripts/planning-ecu/restore-normal/script.bash b/demos/multi_ecu_aggregation/container_scripts/planning-ecu/restore-normal/script.bash
index 68e4933..4ff9ced 100644
--- a/demos/multi_ecu_aggregation/container_scripts/planning-ecu/restore-normal/script.bash
+++ b/demos/multi_ecu_aggregation/container_scripts/planning-ecu/restore-normal/script.bash
@@ -2,10 +2,13 @@
 # Reset all planning node parameters to defaults
 set -eu
 
+# ROS setup.bash dereferences AMENT_TRACE_SETUP_FILES; relax nounset around it.
+set +u
 # shellcheck source=/dev/null
 source /opt/ros/jazzy/setup.bash
 # shellcheck source=/dev/null
 source /root/demo_ws/install/setup.bash
+set -u
 
 ERRORS=0
 
diff --git a/demos/sensor_diagnostics/inject-fault-scenario.sh b/demos/sensor_diagnostics/inject-fault-scenario.sh
old mode 100644
new mode 100755
diff --git a/demos/sensor_diagnostics/run-diagnostics.sh b/demos/sensor_diagnostics/run-diagnostics.sh
old mode 100644
new mode 100755
diff --git a/demos/sensor_diagnostics/setup-triggers.sh b/demos/sensor_diagnostics/setup-triggers.sh
index f7dcbaf..7d731a0 100755
--- a/demos/sensor_diagnostics/setup-triggers.sh
+++ b/demos/sensor_diagnostics/setup-triggers.sh
@@ -2,8 +2,8 @@
 # Create fault-monitoring trigger for sensor diagnostics demo
 # Alerts on any new fault reported via the diagnostic bridge
 export ENTITY_TYPE="apps"
-# Uses ROS node name (underscore) - must match reporting_sources in FaultEvent
-export ENTITY_ID="diagnostic_bridge"
+# Gateway normalises entity IDs with hyphens (matches the registered apps id).
+export ENTITY_ID="diagnostic-bridge"
 export INJECT_HINT="./inject-nan.sh"
 # shellcheck disable=SC1091
 source "$(cd "$(dirname "$0")" && pwd)/../../lib/setup-trigger.sh"
diff --git a/demos/sensor_diagnostics/watch-triggers.sh b/demos/sensor_diagnostics/watch-triggers.sh
index 298f3b4..3fbd928 100755
--- a/demos/sensor_diagnostics/watch-triggers.sh
+++ b/demos/sensor_diagnostics/watch-triggers.sh
@@ -2,6 +2,6 @@
 # Watch trigger events for sensor diagnostics demo
 # Connects to SSE stream and prints fault events in real time
 export ENTITY_TYPE="apps"
-export ENTITY_ID="diagnostic_bridge"
+export ENTITY_ID="diagnostic-bridge"
 # shellcheck disable=SC1091
 source "$(cd "$(dirname "$0")" && pwd)/../../lib/watch-trigger.sh" "$@"
diff --git a/demos/turtlebot3_integration/container_scripts/nav2-stack/inject-localization-failure/script.bash b/demos/turtlebot3_integration/container_scripts/nav2-stack/inject-localization-failure/script.bash
index c34b396..64a3f57 100755
--- a/demos/turtlebot3_integration/container_scripts/nav2-stack/inject-localization-failure/script.bash
+++ b/demos/turtlebot3_integration/container_scripts/nav2-stack/inject-localization-failure/script.bash
@@ -15,7 +15,9 @@ echo "Waiting for particles to scatter..."
 sleep 2
 
 echo "Sending navigation goal with high localization uncertainty..."
-curl -sf -X POST "${API_BASE}/apps/bt-navigator/operations/navigate_to_pose/executions" \
+# Drop -f: action server typically rejects the goal under scattered particles,
+# which is the demo's intended failure mode - treat HTTP 400 as expected.
+RESPONSE=$(curl -s -X POST "${API_BASE}/apps/bt-navigator/operations/navigate_to_pose/executions" \
     -H "Content-Type: application/json" \
     -d '{
     "goal": {
@@ -27,7 +29,8 @@ curl -sf -X POST "${API_BASE}/apps/bt-navigator/operations/navigate_to_pose/exec
         }
       }
     }
-  }'
+  }')
+echo "${RESPONSE}" | jq '.' 2>/dev/null || echo "${RESPONSE}"
 
 echo ""
 echo "Localization failure injected."
diff --git a/demos/turtlebot3_integration/setup-triggers.sh b/demos/turtlebot3_integration/setup-triggers.sh
index 8092c13..b9390f6 100755
--- a/demos/turtlebot3_integration/setup-triggers.sh
+++ b/demos/turtlebot3_integration/setup-triggers.sh
@@ -1,9 +1,10 @@
 #!/bin/bash
 # Create fault-monitoring trigger for turtlebot3 integration demo
-# Alerts on any fault change reported by the anomaly detector
+# Alerts on any fault change reported via the diagnostic bridge - the
+# anomaly-detector app has no faults of its own, faults arrive from
+# /diagnostics through the bridge.
 export ENTITY_TYPE="apps"
-# Uses ROS node name (underscore) - must match reporting_sources in FaultEvent
-export ENTITY_ID="anomaly_detector"
+export ENTITY_ID="diagnostic-bridge"
 export INJECT_HINT="./inject-nav-failure.sh"
 # shellcheck disable=SC1091
 source "$(cd "$(dirname "$0")" && pwd)/../../lib/setup-trigger.sh"
diff --git a/demos/turtlebot3_integration/watch-triggers.sh b/demos/turtlebot3_integration/watch-triggers.sh
index 6f96330..d6d9b6c 100755
--- a/demos/turtlebot3_integration/watch-triggers.sh
+++ b/demos/turtlebot3_integration/watch-triggers.sh
@@ -2,6 +2,6 @@
 # Watch trigger events for turtlebot3 integration demo
 # Connects to SSE stream and prints fault events in real time
 export ENTITY_TYPE="apps"
-export ENTITY_ID="anomaly_detector"
+export ENTITY_ID="diagnostic-bridge"
 # shellcheck disable=SC1091
 source "$(cd "$(dirname "$0")" && pwd)/../../lib/watch-trigger.sh" "$@"
diff --git a/lib/setup-trigger.sh b/lib/setup-trigger.sh
index 83c937a..e43f5e2 100644
--- a/lib/setup-trigger.sh
+++ b/lib/setup-trigger.sh
@@ -8,7 +8,7 @@ if [ -z "${ENTITY_TYPE:-}" ] || [ -z "${ENTITY_ID:-}" ]; then
     exit 1
 fi
 
-SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 # shellcheck disable=SC1091
 source "${SCRIPT_DIR}/triggers-api.sh"
 
diff --git a/lib/watch-trigger.sh b/lib/watch-trigger.sh
index 57dfc1a..c16db14 100644
--- a/lib/watch-trigger.sh
+++ b/lib/watch-trigger.sh
@@ -8,7 +8,7 @@ if [ -z "${ENTITY_TYPE:-}" ] || [ -z "${ENTITY_ID:-}" ]; then
     exit 1
 fi
 
-SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 # shellcheck disable=SC1091
 source "${SCRIPT_DIR}/triggers-api.sh"
 
diff --git a/tests/smoke_test_multi_ecu.sh b/tests/smoke_test_multi_ecu.sh
index 3a5e2a2..8fec105 100755
--- a/tests/smoke_test_multi_ecu.sh
+++ b/tests/smoke_test_multi_ecu.sh
@@ -26,14 +26,25 @@ wait_for_gateway 120
 # Wait for runtime node linking (perception ECU local nodes)
 wait_for_runtime_linking "/apps/lidar-driver/data" 90
 
-# Wait for aggregation to discover peer ECUs
-echo "  Waiting for aggregated entities from planning ECU (max 60s)..."
-if poll_until "/apps" '.items[] | select(.id == "path-planner")' 60; then
-    echo -e "  ${GREEN}Aggregation discovery complete${NC}"
-else
-    echo -e "  ${RED}Aggregation discovery did not complete within 60s${NC}"
-    exit 1
-fi
+# Wait for aggregation to discover peer ECUs.
+# The aggregator pulls each peer independently, so a single peer's marker app is
+# not a sufficient readiness gate: we must see a representative app from EACH
+# peer ECU before the discovery assertions run. Otherwise a slower peer
+# (typically the actuation ECU) races the checks and surfaces as missing apps
+# ("found 7" instead of >=10).
+#   planning ECU  -> path-planner
+#   actuation ECU -> motor-controller
+echo "  Waiting for aggregated entities from planning + actuation ECUs (max 60s each)..."
+for peer in "planning ECU:path-planner" "actuation ECU:motor-controller"; do
+    peer_name="${peer%%:*}"
+    peer_app="${peer##*:}"
+    if poll_until "/apps" ".items[] | select(.id == \"${peer_app}\")" 60; then
+        echo -e "  ${GREEN}${peer_name} aggregated (${peer_app})${NC}"
+    else
+        echo -e "  ${RED}${peer_name} not aggregated within 60s (${peer_app} missing)${NC}"
+        exit 1
+    fi
+done
 
 # --- Tests ---