feat(turtlebot3): Complete demo with manifest discovery, fault management and GUI as default #17

bburda · 2026-01-29T16:24:56Z

Description

Major improvements to TurtleBot3 integration demo:

Core Features:

Add manifest-based entity discovery (SOVD hierarchy: Areas→Components→Apps→Functions)
Implement fault management via diagnostic_bridge + fault_manager
Add SQLite storage for persistent fault tracking
Support conditional headless/GUI Gazebo modes

Docker & Launch:

Fix Dockerfile: add ros2_medkit_fault_manager, fault_reporter, diagnostic_bridge packages
Add SQLite dependencies (sqlite3, libsqlite3-dev)
Update launch file: conditional Gazebo launch based on headless argument
Change default mode from headless to GUI for better UX
Add HEADLESS environment variable support in docker-compose.yml

Manifest & Configuration:

Add turtlebot3_manifest.yaml defining complete entity hierarchy
Configure 4 areas: robot, navigation, diagnostics, bridge
Define 6 components: turtlebot3-base, lidar-sensor, nav2-stack, gateway, fault-manager, diagnostic-bridge-unit
Define 11 apps with ROS node bindings and dependencies
Define 3 functions: autonomous-navigation, robot-control, fault-management

Shell Scripts:

Fix all app IDs: underscore format → hyphen format (bt_navigator → bt-navigator, etc.)
Add check-entities.sh: explore SOVD entity hierarchy
Add check-faults.sh: view active faults
Add inject-nav-failure.sh: trigger unreachable goal scenario
Add inject-localization-failure.sh: reset AMCL with high uncertainty
Add inject-controller-failure.sh: set restrictive velocity limits
Add inject-collision.sh: navigate toward obstacles
Add restore-normal.sh: restore defaults and clear faults
Update send-nav-goal.sh: use SOVD API instead of docker exec

Documentation:

Completely rewrite TurtleBot3 demo README with:
- Clear GUI vs headless mode instructions
- SOVD entity hierarchy explanation
- Fault management architecture diagram
- Fault injection scenarios table
- Complete REST API examples for all endpoints
- Scripts reference table

Testing:

All scripts verified working with GATEWAY_URL=http://172.19.0.2:8080
Navigation goals successfully executed via SOVD API
Fault injection scenarios tested
23 components discovered, 0 initial faults confirmed
GUI and headless modes both tested and working

Related Issue

closes #9

Checklist

Tested locally
README updated (if needed)

…ment and GUI as default Major improvements to TurtleBot3 integration demo: Core Features: - Add manifest-based entity discovery (SOVD hierarchy: Areas→Components→Apps→Functions) - Implement fault management via diagnostic_bridge + fault_manager - Add SQLite storage for persistent fault tracking - Support conditional headless/GUI Gazebo modes Docker & Launch: - Fix Dockerfile: add ros2_medkit_fault_manager, fault_reporter, diagnostic_bridge packages - Add SQLite dependencies (sqlite3, libsqlite3-dev) - Update launch file: conditional Gazebo launch based on headless argument - Change default mode from headless to GUI for better UX - Add HEADLESS environment variable support in docker-compose.yml Manifest & Configuration: - Add turtlebot3_manifest.yaml defining complete entity hierarchy - Configure 4 areas: robot, navigation, diagnostics, bridge - Define 6 components: turtlebot3-base, lidar-sensor, nav2-stack, gateway, fault-manager, diagnostic-bridge-unit - Define 11 apps with ROS node bindings and dependencies - Define 3 functions: autonomous-navigation, robot-control, fault-management Shell Scripts: - Fix all app IDs: underscore format → hyphen format (bt_navigator → bt-navigator, etc.) - Add check-entities.sh: explore SOVD entity hierarchy - Add check-faults.sh: view active faults - Add inject-nav-failure.sh: trigger unreachable goal scenario - Add inject-localization-failure.sh: reset AMCL with high uncertainty - Add inject-controller-failure.sh: set restrictive velocity limits - Add inject-collision.sh: navigate toward obstacles - Add restore-normal.sh: restore defaults and clear faults - Update send-nav-goal.sh: use SOVD API instead of docker exec Documentation: - Completely rewrite TurtleBot3 demo README with: * Clear GUI vs headless mode instructions * SOVD entity hierarchy explanation * Fault management architecture diagram * Fault injection scenarios table * Complete REST API examples for all endpoints * Scripts reference table Testing: - All scripts verified working with GATEWAY_URL=http://172.19.0.2:8080 - Navigation goals successfully executed via SOVD API - Fault injection scenarios tested - 23 components discovered, 0 initial faults confirmed - GUI and headless modes both tested and working

Copilot

Pull request overview

This PR significantly enhances the TurtleBot3 integration demo by adding complete SOVD-compliant entity discovery, fault management capabilities, and improved Docker deployment options with both GUI and headless Gazebo modes.

Changes:

Implemented manifest-based entity discovery with complete SOVD hierarchy (Areas → Components → Apps → Functions)
Added fault management system with diagnostic_bridge for legacy /diagnostics topic support and persistent SQLite storage
Introduced conditional Gazebo launch modes (GUI/headless) with default GUI mode for better user experience
Created comprehensive fault injection scripts and monitoring tools for testing fault scenarios
Updated all documentation with REST API examples, entity hierarchy explanations, and fault management architecture

Reviewed changes

Copilot reviewed 16 out of 16 changed files in this pull request and generated 9 comments.

Show a summary per file

File	Description
send-nav-goal.sh	Migrated from docker exec to SOVD API for navigation goals, added robust validation and error handling
run-demo.sh	Added --headless flag with environment variable support for conditional Gazebo modes
restore-normal.sh	New script to restore default parameters and clear all faults after testing scenarios
inject-nav-failure.sh	New fault injection script for unreachable navigation goals
inject-localization-failure.sh	New fault injection script triggering AMCL uncertainty via global relocalization
inject-controller-failure.sh	New fault injection script setting restrictive velocity limits
inject-collision.sh	New fault injection script navigating toward obstacles
check-faults.sh	New script to query and display active faults from gateway
check-entities.sh	New script to explore complete SOVD entity hierarchy
demo.launch.py	Added conditional headless/GUI Gazebo launch, fault_manager and diagnostic_bridge nodes, manifest path configuration
turtlebot3_manifest.yaml	New complete SOVD manifest defining 4 areas, 6 components, 11 apps, and 3 functions
medkit_params.yaml	Updated with hybrid discovery mode, DELETE method in CORS, and manifest configuration
docker-compose.yml	Added HEADLESS environment variable support, switched to pre-built sovd_web_ui image
Dockerfile	Added SQLite dependencies and ros2_medkit fault management packages
README.md (root)	Expanded overview with SOVD capabilities, added both demo quick starts, included API examples
README.md (turtlebot3)	Complete rewrite with GUI/headless instructions, entity hierarchy documentation, fault injection scenarios, comprehensive API reference

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Copilot · 2026-01-29T16:38:26Z

demos/turtlebot3_integration/README.md


 # Stop the robot
-curl -X POST http://localhost:8080/api/v1/topics/publish \
+curl -X PUT http://localhost:8080/api/v1/apps/turtlebot3_node/data/cmd_vel \


The app ID used in the API endpoints is incorrect. The manifest defines the app ID as "turtlebot3-node" (with hyphen), but the documentation uses "turtlebot3_node" (with underscore). This inconsistency will cause API calls to fail.

All references to "apps/turtlebot3_node" should be changed to "apps/turtlebot3-node" to match the manifest definition in config/turtlebot3_manifest.yaml line 83.

Copilot · 2026-01-29T16:38:27Z

demos/turtlebot3_integration/check-entities.sh

+    exit 1
+fi
+echo "✓ Gateway is healthy"
+


Missing dependency check for 'jq'. This script uses jq extensively throughout (lines 34, 37, 40, 43, 47, 56) but doesn't verify it's installed. If jq is not available, the script will fail with unclear error messages.

Add a check similar to the one in send-nav-goal.sh lines 19-22 to verify jq is installed before proceeding.

Suggested change

# Check for jq dependency

if ! command -v jq >/dev/null 2>&1; then

echo "❌ 'jq' is required but not installed."

echo " Please install jq (e.g., 'sudo apt-get install jq') and retry."

exit 1

fi

Copilot · 2026-01-29T16:38:27Z

demos/turtlebot3_integration/restore-normal.sh

+    echo "❌ Gateway not available at ${GATEWAY_URL}"
+    exit 1
+fi
+


Missing dependency check for 'jq'. This script uses jq on lines 21, 22, and 51 but doesn't verify it's installed. If jq is not available, the script will fail with unclear error messages.

Add a check similar to the one in send-nav-goal.sh lines 19-22 to verify jq is installed before proceeding.

Suggested change

# Check jq dependency

if ! command -v jq > /dev/null 2>&1; then

echo "❌ Missing dependency: 'jq' is required but not installed."

echo " Please install jq (https://stedolan.github.io/jq/) and try again."

exit 1

fi

Copilot · 2026-01-29T16:38:27Z

demos/turtlebot3_integration/docker-compose.yml

+    depends_on:
+      - turtlebot3-demo


The sovd-web-ui service declares a dependency on "turtlebot3-demo", but when users run with the nvidia profile (docker compose --profile nvidia up), only the "turtlebot3-demo-nvidia" service will start. This means sovd-web-ui won't start in nvidia mode because its dependency won't be satisfied.

Consider either:

Removing the depends_on clause (the web UI can retry connecting)

Creating a conditional dependency that works with both service variants

Using a shared service name with profiles

The simplest fix is to remove the depends_on clause since the web UI can handle the gateway not being immediately available.

Suggested change

depends_on:

- turtlebot3-demo

Copilot · 2026-01-29T16:38:28Z

demos/turtlebot3_integration/README.md

-# Send velocity command (moves robot forward)
-curl -X POST http://localhost:8080/api/v1/topics/publish \
+# Send velocity command using Apps data endpoint (moves robot forward)
+curl -X PUT http://localhost:8080/api/v1/apps/turtlebot3_node/data/cmd_vel \


The app ID used in the API endpoints is incorrect. The manifest defines the app ID as "turtlebot3-node" (with hyphen), but the documentation uses "turtlebot3_node" (with underscore). This inconsistency will cause API calls to fail.

All references to "apps/turtlebot3_node" should be changed to "apps/turtlebot3-node" to match the manifest definition in config/turtlebot3_manifest.yaml line 83.

Copilot seems to be right here :)

Copilot · 2026-01-29T16:38:28Z

demos/turtlebot3_integration/README.md

+curl http://localhost:8080/api/v1/apps/turtlebot3_node/data/scan | jq '{
+  angle_min: .angle_min,
+  angle_max: .angle_max,
+  sample_ranges: .ranges[:5]
+}'
+
+# Get odometry data
+curl http://localhost:8080/api/v1/apps/turtlebot3_node/data/odom | jq '{
+  position: .pose.pose.position,
+  orientation: .pose.pose.orientation
+}'
+
+# List all data topics for an app
+curl http://localhost:8080/api/v1/apps/turtlebot3_node/data | jq


The app ID used in the API endpoint is incorrect. The manifest defines the app ID as "turtlebot3-node" (with hyphen), but the documentation uses "turtlebot3_node" (with underscore). This inconsistency will cause API calls to fail.

Change "apps/turtlebot3_node" to "apps/turtlebot3-node" to match the manifest definition.

Suggested change

curl http://localhost:8080/api/v1/apps/turtlebot3_node/data/scan | jq '{

angle_min: .angle_min,

angle_max: .angle_max,

sample_ranges: .ranges[:5]

}'

# Get odometry data

curl http://localhost:8080/api/v1/apps/turtlebot3_node/data/odom | jq '{

position: .pose.pose.position,

orientation: .pose.pose.orientation

}'

# List all data topics for an app

curl http://localhost:8080/api/v1/apps/turtlebot3_node/data | jq

curl http://localhost:8080/api/v1/apps/turtlebot3-node/data/scan | jq '{

angle_min: .angle_min,

angle_max: .angle_max,

sample_ranges: .ranges[:5]

}'

# Get odometry data

curl http://localhost:8080/api/v1/apps/turtlebot3-node/data/odom | jq '{

position: .pose.pose.position,

orientation: .pose.pose.orientation

}'

# List all data topics for an app

curl http://localhost:8080/api/v1/apps/turtlebot3-node/data | jq

Copilot · 2026-01-29T16:38:28Z

demos/turtlebot3_integration/check-faults.sh

+#!/bin/bash
+# Check current faults from ros2_medkit gateway
+# Faults are collected from Nav2/TurtleBot3 via diagnostic_bridge
+
+GATEWAY_URL="${GATEWAY_URL:-http://localhost:8080}"
+API_BASE="${GATEWAY_URL}/api/v1"
+
+echo "🔍 Checking faults from ros2_medkit gateway..."
+echo ""
+
+# Wait for gateway
+echo "Checking gateway health..."
+if ! curl -sf "${API_BASE}/health" > /dev/null 2>&1; then
+    echo "❌ Gateway not available at ${GATEWAY_URL}"
+    echo "   Start with: ./run-demo.sh"
+    exit 1
+fi
+echo "✓ Gateway is healthy"
+echo ""
+
+# Get all faults
+echo "📋 Active Faults:"
+FAULTS=$(curl -s "${API_BASE}/faults")
+
+# Check if there are any faults
+FAULT_COUNT=$(echo "$FAULTS" | jq '.items | length')


Missing dependency check for 'jq'. This script uses jq extensively but doesn't verify it's installed before attempting to use it. If jq is not available, the script will fail with unclear error messages.

Add a check similar to the one in send-nav-goal.sh lines 19-22 to verify jq is installed before proceeding.

Copilot · 2026-01-29T16:38:29Z

demos/turtlebot3_integration/launch/demo.launch.py

+from launch.conditions import IfCondition, UnlessCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
+from launch.substitutions import LaunchConfiguration, PythonExpression


Unused import. The PythonExpression class is imported but never used in the launch file. This should be removed to keep the imports clean.

Suggested change

from launch.substitutions import LaunchConfiguration, PythonExpression

from launch.substitutions import LaunchConfiguration

Copilot · 2026-01-29T16:38:29Z

demos/turtlebot3_integration/README.md

-# Publish to topic (see examples above)
-curl -X POST http://localhost:8080/api/v1/topics/publish ...
+# Clear a specific fault
+curl -X DELETE http://localhost:8080/api/v1/apps/diagnostic_bridge/faults/TURTLEBOT3_NODE


The app ID used in the API endpoint is incorrect. The manifest defines the app ID as "diagnostic-bridge" (with hyphen at line 177 of turtlebot3_manifest.yaml), but the documentation uses "diagnostic_bridge" (with underscore). This inconsistency will cause API calls to fail.

Change "apps/diagnostic_bridge" to "apps/diagnostic-bridge" to match the manifest definition.

Suggested change

curl -X DELETE http://localhost:8080/api/v1/apps/diagnostic_bridge/faults/TURTLEBOT3_NODE

curl -X DELETE http://localhost:8080/api/v1/apps/diagnostic-bridge/faults/TURTLEBOT3_NODE

mfaferek93 · 2026-01-29T19:02:07Z

demos/turtlebot3_integration/Dockerfile

    mv ros2_medkit/src/ros2_medkit_gateway \
       ros2_medkit/src/ros2_medkit_msgs \
       ros2_medkit/src/ros2_medkit_serialization \
+       ros2_medkit/src/ros2_medkit_fault_manager \


since we're cloning from the main branch with --depth 1, builds might break if the upstream repo changes. Maybe worth pinning to a specific commit or tag for reproducibility?

We’re cloning these packages only because they haven’t been deployed to the ROS Index yet.
For now, I suggest we leave this as-is and open a follow-up issue to replace all git clone/mv steps for ros2_medkit packages with a simple rosdep install driven by package.xml.

mfaferek93 · 2026-01-29T19:07:11Z

demos/turtlebot3_integration/launch/demo.launch.py

                launch_arguments={"use_sim_time": use_sim_time}.items(),
+                condition=UnlessCondition(headless),
+            ),
+            # Spawn TurtleBot3 robot (both modes)


The comment says "Spawn TurtleBot3 robot (both modes)" but looking at the condition on line 109, it only spawns in headless mode.

mfaferek93 · 2026-01-29T19:08:21Z

demos/turtlebot3_integration/inject-nav-failure.sh

+    }
+  }')
+
+echo "$RESPONSE" | jq '.' 2>/dev/null || echo "$RESPONSE"


This might blow up if the gateway returns an error message instead of JSON - jq will just fail silently. Maybe add a quick check before piping to jq?

mfaferek93 · 2026-01-29T19:08:57Z

demos/turtlebot3_integration/restore-normal.sh

+curl -s -X PUT "${API_BASE}/apps/velocity-smoother/configurations/max_velocity" \
+  -H "Content-Type: application/json" \
+  -d '{"value": [0.26, 0.0, 1.0]}' > /dev/null 2>&1


I see all the curl errors are going to /dev/null here - makes for clean output but could be tricky to debug if something goes wrong. Maybe keep stderr visible or log to a file?

mfaferek93 · 2026-01-29T19:10:36Z

demos/turtlebot3_integration/README.md

-# Send velocity command (moves robot forward)
-curl -X POST http://localhost:8080/api/v1/topics/publish \
+# Send velocity command using Apps data endpoint (moves robot forward)
+curl -X PUT http://localhost:8080/api/v1/apps/turtlebot3_node/data/cmd_vel \


Copilot seems to be right here :)

mfaferek93 · 2026-01-29T19:12:37Z

demos/turtlebot3_integration/launch/demo.launch.py

            ),
+            # Launch ros2_medkit fault_manager in root namespace
+            # Aggregates faults from all nodes via ReportFault service
+            Node(


The launch file uses ros2_medkit_fault_manager and ros2_medkit_diagnostic_bridge packages, but they're not listed in package.xml exec_depend. It works in Docker because everything's built together, but for completeness you might want to add

also can we put a real email/name in package.xml instead of demo@example.com?

mfaferek93 · 2026-01-29T19:15:03Z

demos/turtlebot3_integration/check-entities.sh

+
+echo_step "5. Sample Data (LiDAR Scan)"
+echo "Getting latest LiDAR scan from TurtleBot3..."
+curl -s "${API_BASE}/apps/turtlebot3-node/data/scan" 2>/dev/null | jq '{


check-entities.sh uses the correct manifest ID:
curl -s "${API_BASE}/apps/turtlebot3-node/data/scan"
But README.md:156 uses:
curl http://localhost:8080/api/v1/apps/turtlebot3_node/data/scan
One of these won't work 😅

Copilot

Pull request overview

Copilot reviewed 16 out of 16 changed files in this pull request and generated 8 comments.

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Copilot · 2026-01-29T19:53:04Z

demos/turtlebot3_integration/check-entities.sh

+echo "✓ Gateway is healthy"
+
+echo_step "1. Areas (Namespace Groupings)"
+curl -s "${API_BASE}/areas" | jq '.items[] | {id: .id, name: .name, description: .description}'


The script uses jq extensively for parsing JSON responses (lines 34, 37, 40, 43, 47, 56, 62-64) but does not check if jq is installed. If jq is not available, the script will fail with cryptic errors. Consider adding a check for required dependencies at the beginning of the script.

Copilot · 2026-01-29T19:53:05Z

demos/turtlebot3_integration/inject-nav-failure.sh

+    }
+  }')
+
+echo "$RESPONSE" | jq '.' 2>/dev/null || echo "$RESPONSE"


The script uses jq for parsing JSON responses (line 34) but does not check if jq is installed. If jq is not available, the script will fail with a cryptic error. Consider adding a check for required dependencies at the beginning of the script.

Copilot · 2026-01-29T19:53:05Z

demos/turtlebot3_integration/launch/demo.launch.py

+                    os.path.join(ros_gz_sim_dir, "launch", "gz_sim.launch.py")
+                ),
+                launch_arguments={
+                    "gz_args": ["-r -s -v2 ", world_file],


The gz_args list construction ["-r -s -v2 ", world_file] will concatenate the flag string with the world file path, potentially resulting in improper spacing. This could work but is fragile. Consider using separate list items for clarity: ["-r", "-s", "-v2", world_file].

Suggested change

"gz_args": ["-r -s -v2 ", world_file],

"gz_args": ["-r", "-s", "-v2", world_file],

Copilot · 2026-01-29T19:53:05Z

demos/turtlebot3_integration/README.md


 # Stop the robot
-curl -X POST http://localhost:8080/api/v1/topics/publish \
+curl -X PUT http://localhost:8080/api/v1/apps/turtlebot3_node/data/cmd_vel \


The app ID should be "turtlebot3-node" (with hyphens) to match the manifest definition, not "turtlebot3_node" (with underscores).

Copilot · 2026-01-29T19:53:06Z

demos/turtlebot3_integration/restore-normal.sh

+echo "✓ Normal operation restored!"
+echo ""
+echo "Current fault status:"
+curl -s "${API_BASE}/faults" | jq '.items | length' | xargs -I {} echo "  Active faults: {}"


The script uses jq for parsing JSON responses (line 51) but does not check if jq is installed. If jq is not available, the script will fail with a cryptic error. Consider adding a check similar to send-nav-goal.sh that validates the presence of required dependencies.

Copilot · 2026-01-29T19:53:06Z

demos/turtlebot3_integration/inject-collision.sh

+    }
+  }')
+
+echo "$RESPONSE" | jq '.' 2>/dev/null || echo "$RESPONSE"


The script uses jq for parsing JSON responses (line 35) but does not check if jq is installed. If jq is not available, the script will fail with a cryptic error. Consider adding a check for required dependencies at the beginning of the script.

Copilot · 2026-01-29T19:53:06Z

demos/turtlebot3_integration/launch/demo.launch.py

+            # Spawn TurtleBot3 robot (both modes)
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(turtlebot3_gazebo_dir, "launch", "spawn_turtlebot3.launch.py")
+                ),
+                launch_arguments={"x_pose": x_pose, "y_pose": y_pose}.items(),
+                condition=IfCondition(headless),


The comment says "Spawn TurtleBot3 robot (both modes)" but the code only spawns in headless mode (condition=IfCondition(headless)). This is actually correct since turtlebot3_world.launch.py already spawns the robot in GUI mode, but the comment is misleading. Consider updating the comment to clarify that spawning only happens explicitly in headless mode, as GUI mode already includes it.

Copilot · 2026-01-29T19:53:06Z

demos/turtlebot3_integration/README.md

-# Publish to topic (see examples above)
-curl -X POST http://localhost:8080/api/v1/topics/publish ...
+# Clear a specific fault
+curl -X DELETE http://localhost:8080/api/v1/apps/diagnostic_bridge/faults/TURTLEBOT3_NODE


The app ID should be "diagnostic-bridge" (with hyphens) to match the manifest definition, not "diagnostic_bridge" (with underscores).

bburda requested a review from mfaferek93 January 29, 2026 16:24

bburda self-assigned this Jan 29, 2026

Copilot AI review requested due to automatic review settings January 29, 2026 16:24

Copilot started reviewing on behalf of bburda January 29, 2026 16:25 View session

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mfaferek93 reviewed Jan 29, 2026

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bburda requested a review from Copilot January 29, 2026 19:45

Copilot started reviewing on behalf of bburda January 29, 2026 19:45 View session

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+# Check for jq dependency
+if ! command -v jq >/dev/null 2>&1; then
+    echo "❌ 'jq' is required but not installed."
+    echo "   Please install jq (e.g., 'sudo apt-get install jq') and retry."
+    exit 1
+fi

+# Check jq dependency
+if ! command -v jq > /dev/null 2>&1; then
+    echo "❌ Missing dependency: 'jq' is required but not installed."
+    echo "   Please install jq (https://stedolan.github.io/jq/) and try again."
+    exit 1
+fi

	from launch.substitutions import LaunchConfiguration, PythonExpression
	from launch.substitutions import LaunchConfiguration

	curl -X DELETE http://localhost:8080/api/v1/apps/diagnostic_bridge/faults/TURTLEBOT3_NODE
	curl -X DELETE http://localhost:8080/api/v1/apps/diagnostic-bridge/faults/TURTLEBOT3_NODE

	"gz_args": ["-r -s -v2 ", world_file],
	"gz_args": ["-r", "-s", "-v2", world_file],

feat(turtlebot3): Complete demo with manifest discovery, fault management and GUI as default #17

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feat(turtlebot3): Complete demo with manifest discovery, fault management and GUI as default #17

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bburda commented Jan 29, 2026

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