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Was this a one-time incident that occurred? If so, then you may be correct that she licked something that had a bitter or foul taste. Alternatively, foaming can also come from a primary mouth lesion (ulcer, tooth problem, etc) or from profound nausea.
I do hope this incident has passed. If so, then her licking something that tasted foul, but was not detrimental was the most likely cause.
If this is a recurrent problem, then you and your vet do need to search for either a mouth lesion or a problem that would cause her to be nauseated. Rarely I do see dogs who get so excited during exercise they will foam a bit at the mouth naturally.
Please let me know what questions you have.