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…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
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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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mfaferek93
reviewed
Jan 29, 2026
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Pull request overview
Copilot reviewed 16 out of 16 changed files in this pull request and generated 8 comments.
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- Fix app IDs in README (underscore → hyphen to match manifest) - Add jq dependency check to shell scripts - Remove depends_on from sovd-web-ui - Remove unused PythonExpression import in launch file - Fix misleading comment about spawn (headless mode only) - Fix gz_args list construction for clarity - Add missing exec_depend in package.xml - Keep stderr visible in restore-normal.sh curl commands
- Remove unused YELLOW variable from check-entities.sh - Add -r flag to read command in restore-normal.sh to handle backslashes properly
mfaferek93
approved these changes
Jan 30, 2026
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Description
Major improvements to TurtleBot3 integration demo:
Core Features:
Docker & Launch:
Manifest & Configuration:
Shell Scripts:
Documentation:
Testing:
Related Issue
closes #9
Checklist