feat(cpp_trees): make ros2_medkit dep optional

Add MANYMOVE_WITH_MEDKIT toggle (default OFF). When OFF the mixin and
installFaultReporter() compile to no-ops, deps drop from CMake and
package.xml. CI matrixes ON/OFF on humble and jazzy.

Author: mfaferek93

.github/workflows/ci.yml

@@ -14,6 +14,12 @@ jobs:
       fail-fast: false
       matrix:
         ros_distro: [humble, jazzy]
+        # with_medkit: ON exercises the medkit integration path (matches
+        # selfpatch fork's primary use case); OFF guards the upstream-friendly
+        # build for users who do not want the ros2_medkit overlay.
+        with_medkit: ["ON", "OFF"]
+
+    name: build-and-test (${{ matrix.ros_distro }}, medkit=${{ matrix.with_medkit }})
 
     container:
       image: ros:${{ matrix.ros_distro }}-ros-base
@@ -29,6 +35,7 @@ jobs:
       # Pin medkit to the rosdistro-released version so an upstream bump
       # does not silently break this CI. Update deliberately when bumping.
       MEDKIT_VERSION: "0.4.0-1"
+      MANYMOVE_WITH_MEDKIT: ${{ matrix.with_medkit == 'ON' && '1' || '0' }}
 
     steps:
       - name: Checkout repository
@@ -39,8 +46,9 @@ jobs:
         uses: actions/cache@v4
         with:
           path: /root/.ccache
-          key: ccache-${{ matrix.ros_distro }}-${{ runner.os }}-v1
+          key: ccache-${{ matrix.ros_distro }}-medkit-${{ matrix.with_medkit }}-${{ runner.os }}-v1
           restore-keys: |
+            ccache-${{ matrix.ros_distro }}-medkit-${{ matrix.with_medkit }}-
             ccache-${{ matrix.ros_distro }}-
 
       - name: Add Isaac ROS apt repository (Jazzy)
@@ -58,6 +66,17 @@ jobs:
             > /etc/apt/sources.list.d/isaac-ros.list
           apt-get update
 
+      - name: Install medkit debs
+        if: matrix.with_medkit == 'ON'
+        run: |
+          set -e
+          apt-get update
+          apt-get install -y \
+            ros-$ROS_DISTRO-ros2-medkit-fault-reporter=$MEDKIT_VERSION* \
+            ros-$ROS_DISTRO-ros2-medkit-msgs=$MEDKIT_VERSION* \
+            ros-$ROS_DISTRO-ros2-medkit-fault-manager=$MEDKIT_VERSION* \
+            ros-$ROS_DISTRO-ros2-medkit-cmake=$MEDKIT_VERSION*
+
       - name: Install build tooling
         run: |
           set -e
@@ -66,10 +85,6 @@ jobs:
             ccache \
             ros-$ROS_DISTRO-topic-based-ros2-control \
             python3-colcon-common-extensions python3-rosdep git \
-            ros-$ROS_DISTRO-ros2-medkit-fault-reporter=$MEDKIT_VERSION* \
-            ros-$ROS_DISTRO-ros2-medkit-msgs=$MEDKIT_VERSION* \
-            ros-$ROS_DISTRO-ros2-medkit-fault-manager=$MEDKIT_VERSION* \
-            ros-$ROS_DISTRO-ros2-medkit-cmake=$MEDKIT_VERSION* \
             ros-$ROS_DISTRO-moveit \
             ros-$ROS_DISTRO-ur \
             ros-$ROS_DISTRO-ur-moveit-config \
@@ -121,7 +136,8 @@ jobs:
             --event-handlers console_cohesion+ \
             --cmake-args \
               -DCMAKE_C_COMPILER_LAUNCHER=ccache \
-              -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+              -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+              -DMANYMOVE_WITH_MEDKIT=${{ matrix.with_medkit }}
           # Show ccache status after build
           ccache -s || true
 

docs/FAULT_CODES.md

@@ -1,7 +1,10 @@
 # manymove fault codes
 
 This is the catalogue of fault codes emitted by `manymove_cpp_trees` BT action
-nodes via [`ros2_medkit_fault_reporter`](https://github.com/selfpatch/ros2_medkit).
+nodes via [`ros2_medkit_fault_reporter`](https://github.com/selfpatch/ros2_medkit)
+when built with `MANYMOVE_WITH_MEDKIT=ON` (see the package README for the
+build instructions). With the option OFF the same `reportFault()` call sites
+compile to no-ops and nothing is published.
 Each entry below maps to one or more `reportFault()` call sites in the action
 node sources; the source-of-truth string constants live in
 `manymove_cpp_trees/include/manymove_cpp_trees/fault_codes.hpp`.

manymove_cpp_trees/CMakeLists.txt

@@ -11,6 +11,18 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wthread-safety)
 endif()
 
+#--------------------------------------------------------------------
+# Build options
+#--------------------------------------------------------------------
+# ros2_medkit fault reporting is off by default to keep the upstream
+# build free of extra deps. Turn it on (-DMANYMOVE_WITH_MEDKIT=ON plus
+# MANYMOVE_WITH_MEDKIT=1 in the env for rosdep) to pull in the medkit
+# overlay; with it off, the FaultReporting mixin and installFaultReporter()
+# compile to no-ops so action nodes build unchanged.
+option(MANYMOVE_WITH_MEDKIT
+  "Build with ros2_medkit fault reporting integration"
+  OFF)
+
 #--------------------------------------------------------------------
 # Dependencies
 #--------------------------------------------------------------------
@@ -32,8 +44,11 @@ find_package(std_msgs                 REQUIRED)
 find_package(simulation_interfaces    REQUIRED)
 find_package(vision_msgs              REQUIRED)
 find_package(rcpputils                REQUIRED)
-find_package(ros2_medkit_fault_reporter REQUIRED)
-find_package(ros2_medkit_msgs         REQUIRED)
+
+if(MANYMOVE_WITH_MEDKIT)
+  find_package(ros2_medkit_fault_reporter REQUIRED)
+  find_package(ros2_medkit_msgs         REQUIRED)
+endif()
 
 #--------------------------------------------------------------------
 # Library with all BT helper nodes
@@ -59,9 +74,17 @@ ament_target_dependencies(manymove_cpp_trees_lib
   manymove_planner manymove_object_manager
   trajectory_msgs geometry_msgs tf2 tf2_ros tf2_geometry_msgs std_srvs manymove_msgs control_msgs
   std_msgs simulation_interfaces vision_msgs rcpputils
-  ros2_medkit_fault_reporter ros2_medkit_msgs
 )
 
+if(MANYMOVE_WITH_MEDKIT)
+  ament_target_dependencies(manymove_cpp_trees_lib
+    ros2_medkit_fault_reporter ros2_medkit_msgs)
+  # PUBLIC so consumers (bt_client_* execs, tests) inherit the define and
+  # pick the medkit-enabled branches in fault_reporting.hpp /
+  # main_imports_helper.hpp without each target having to set it again.
+  target_compile_definitions(manymove_cpp_trees_lib PUBLIC MANYMOVE_WITH_MEDKIT)
+endif()
+
 #--------------------------------------------------------------------
 # Helper macro to create BT-client executables
 #--------------------------------------------------------------------
@@ -75,8 +98,12 @@ macro(bt_client_exec NAME)
     manymove_planner manymove_object_manager
     trajectory_msgs tf2 std_srvs manymove_msgs control_msgs
     std_msgs simulation_interfaces rcpputils
-    ros2_medkit_fault_reporter ros2_medkit_msgs
   )
+
+  if(MANYMOVE_WITH_MEDKIT)
+    ament_target_dependencies(${NAME}
+      ros2_medkit_fault_reporter ros2_medkit_msgs)
+  endif()
 endmacro()
 
 bt_client_exec(bt_client)
@@ -131,9 +158,12 @@ ament_export_dependencies(
   manymove_planner manymove_object_manager
   trajectory_msgs tf2 tf2_ros tf2_geometry_msgs std_srvs manymove_msgs control_msgs
   std_msgs simulation_interfaces vision_msgs rcpputils
-  ros2_medkit_fault_reporter ros2_medkit_msgs
 )
 
+if(MANYMOVE_WITH_MEDKIT)
+  ament_export_dependencies(ros2_medkit_fault_reporter ros2_medkit_msgs)
+endif()
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_uncrustify REQUIRED)
@@ -152,8 +182,11 @@ if(BUILD_TESTING)
         rclcpp rclcpp_action behaviortree_cpp_v3
         manymove_planner manymove_object_manager
         trajectory_msgs geometry_msgs tf2 tf2_ros tf2_geometry_msgs std_srvs manymove_msgs control_msgs
-        std_msgs simulation_interfaces vision_msgs rcpputils
-        ros2_medkit_fault_reporter ros2_medkit_msgs)
+        std_msgs simulation_interfaces vision_msgs rcpputils)
+      if(MANYMOVE_WITH_MEDKIT)
+        ament_target_dependencies(${target}
+          ros2_medkit_fault_reporter ros2_medkit_msgs)
+      endif()
     endif()
   endfunction()
 
@@ -184,8 +217,10 @@ if(BUILD_TESTING)
   manymove_cpp_trees_add_gtest(test_bt_integration
     test/test_bt_integration.cpp)
 
-  manymove_cpp_trees_add_gtest(test_fault_reporting
-    test/test_fault_reporting.cpp)
+  if(MANYMOVE_WITH_MEDKIT)
+    manymove_cpp_trees_add_gtest(test_fault_reporting
+      test/test_fault_reporting.cpp)
+  endif()
 endif()
 
 ament_package()

manymove_cpp_trees/README.md

@@ -42,6 +42,21 @@ Each executable spins the BT factory, registers the custom nodes, and runs the `
 - Control and runtime messaging: `rclcpp`, `rclcpp_action`, `control_msgs`, `std_msgs`, `std_srvs`, `topic_based_ros2_control`
 - Simulation and perception bridges: `simulation_interfaces`, `vision_msgs`
 
+## Optional: ros2_medkit fault reporting
+The package can emit structured fault events via
+[`ros2_medkit`](https://github.com/selfpatch/ros2_medkit) when built with
+`MANYMOVE_WITH_MEDKIT=ON`. With the option OFF (default) the action nodes
+build with no extra dependencies and every `reportFault()` call compiles
+to a no-op. To enable:
+
+```bash
+export MANYMOVE_WITH_MEDKIT=1                                # for rosdep
+rosdep install --from-paths src --ignore-src -y
+colcon build --cmake-args -DMANYMOVE_WITH_MEDKIT=ON          # for the build
+```
+
+See [`docs/FAULT_CODES.md`](../docs/FAULT_CODES.md) for the catalogue.
+
 ## Notes
 - Robot safety mechanisms (stop buttons, workspace supervision) must be handled externally.
 - Review the main README for project-wide disclaimers, contribution guidance, and licensing details.

manymove_cpp_trees/include/manymove_cpp_trees/fault_reporting.hpp

@@ -34,8 +34,10 @@
 #include <memory>
 #include <string>
 
+#ifdef MANYMOVE_WITH_MEDKIT
 #include <ros2_medkit_fault_reporter/fault_reporter.hpp>
 #include <ros2_medkit_msgs/msg/fault.hpp>
+#endif
 
 namespace manymove_cpp_trees
 {
@@ -45,13 +47,23 @@ namespace manymove_cpp_trees
 // main_imports_helper.hpp.
 inline constexpr char kFaultReporterBlackboardKey[] = "fault_reporter";
 
+#ifdef MANYMOVE_WITH_MEDKIT
 // Severity aliases that mirror ros2_medkit_msgs::msg::Fault::SEVERITY_*. Kept
 // here as a header-local convenience so call sites do not have to spell out
 // the verbose qualified constants on every reportFault() invocation.
 inline constexpr uint8_t kSeverityInfo = ros2_medkit_msgs::msg::Fault::SEVERITY_INFO;
 inline constexpr uint8_t kSeverityWarn = ros2_medkit_msgs::msg::Fault::SEVERITY_WARN;
 inline constexpr uint8_t kSeverityError = ros2_medkit_msgs::msg::Fault::SEVERITY_ERROR;
 inline constexpr uint8_t kSeverityCritical = ros2_medkit_msgs::msg::Fault::SEVERITY_CRITICAL;
+#else
+// Severity constants kept value-compatible with ros2_medkit_msgs::msg::Fault
+// so call sites compile unchanged when the medkit dep is disabled at build
+// time (MANYMOVE_WITH_MEDKIT=OFF).
+inline constexpr uint8_t kSeverityInfo = 0;
+inline constexpr uint8_t kSeverityWarn = 1;
+inline constexpr uint8_t kSeverityError = 2;
+inline constexpr uint8_t kSeverityCritical = 3;
+#endif
 
 // Capability class that gives a BT action node one-line access to the
 // process-wide FaultReporter installed on the blackboard. Inherited as a
@@ -63,10 +75,11 @@ inline constexpr uint8_t kSeverityCritical = ros2_medkit_msgs::msg::Fault::SEVER
 // inherit this: their FAILURE return is normal control flow, not a fault,
 // and instrumenting them would flood the FaultManager.
 //
-// Lifetime: keeps a shared_ptr to the reporter so it is safe to use from any
-// callback running on the same node executor. The reporter itself is owned
-// by the bt_client_*.cpp main(); destruction order is fine because the
-// blackboard outlives every BT node that pulled the pointer in its ctor.
+// When the package is built with MANYMOVE_WITH_MEDKIT=OFF the class becomes a
+// stub with identical public API: every reportFault()/reportFaultPassed()
+// call compiles to a no-op and no medkit headers are pulled in. This lets
+// downstream users build manymove without the ros2_medkit overlay while
+// keeping the integrated build (ON) the default.
 class FaultReporting
 {
 public:
@@ -75,6 +88,7 @@ class FaultReporting
   FaultReporting() = default;
 
 protected:
+#ifdef MANYMOVE_WITH_MEDKIT
   explicit FaultReporting(const BT::Blackboard::Ptr & blackboard)
   {
     if (blackboard) {
@@ -103,6 +117,17 @@ class FaultReporting
   }
 
   std::shared_ptr<ros2_medkit_fault_reporter::FaultReporter> reporter_;
+#else
+  explicit FaultReporting(const BT::Blackboard::Ptr & /*blackboard*/) {}
+
+  void reportFault(
+    const char * /*fault_code*/, uint8_t /*severity*/,
+    const std::string & /*description*/) const
+  {
+  }
+
+  void reportFaultPassed(const char * /*fault_code*/) const {}
+#endif
 };
 
 }  // namespace manymove_cpp_trees

manymove_cpp_trees/include/manymove_cpp_trees/main_imports_helper.hpp

@@ -40,6 +40,10 @@
 
 #include <rclcpp/rclcpp.hpp>
 
+#ifdef MANYMOVE_WITH_MEDKIT
+#include <ros2_medkit_fault_reporter/fault_reporter.hpp>
+#endif
+
 #include "manymove_cpp_trees/action_nodes_logic.hpp"
 #include "manymove_cpp_trees/action_nodes_objects.hpp"
 #include "manymove_cpp_trees/action_nodes_planner.hpp"
@@ -109,6 +113,12 @@ namespace manymove_cpp_trees
 //
 // service_name lets callers remap the FaultManager service for namespaced
 // test rigs or multi-robot setups (e.g. "/robot1/fault_manager/report_fault").
+//
+// When the package is built with MANYMOVE_WITH_MEDKIT=OFF this is a no-op
+// kept for source compatibility: bt_client_*.cpp main() can call it
+// unconditionally and the FaultReporting mixin in every action node still
+// compiles, with reportFault()/reportFaultPassed() folding to no-ops.
+#ifdef MANYMOVE_WITH_MEDKIT
 inline void installFaultReporter(
   BT::Blackboard::Ptr blackboard, rclcpp::Node::SharedPtr node,
   const std::string & service_name = "/fault_manager/report_fault")
@@ -117,6 +127,13 @@ inline void installFaultReporter(
     node, node->get_fully_qualified_name(), service_name);
   blackboard->set(manymove_cpp_trees::kFaultReporterBlackboardKey, reporter);
 }
+#else
+inline void installFaultReporter(
+  BT::Blackboard::Ptr /*blackboard*/, rclcpp::Node::SharedPtr /*node*/,
+  const std::string & /*service_name*/ = "/fault_manager/report_fault")
+{
+}
+#endif
 
 }  // namespace manymove_cpp_trees
 

manymove_cpp_trees/package.xml

@@ -27,8 +27,12 @@
   <depend>simulation_interfaces</depend>
   <depend>vision_msgs</depend>
   <depend>rcpputils</depend>
-  <depend>ros2_medkit_fault_reporter</depend>
-  <depend>ros2_medkit_msgs</depend>
+  <!-- ros2_medkit deps follow the MANYMOVE_WITH_MEDKIT CMake option (default
+       OFF). The rosdep condition keys off the env var of the same name:
+       MANYMOVE_WITH_MEDKIT=1 -> install, unset or any other value -> skip.
+       Keep this aligned with the CMake option in CMakeLists.txt. -->
+  <depend condition="$MANYMOVE_WITH_MEDKIT == 1">ros2_medkit_fault_reporter</depend>
+  <depend condition="$MANYMOVE_WITH_MEDKIT == 1">ros2_medkit_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>