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fix(demo): improve code quality, add CI and smoke test for multi-ECU demo
Code quality: - Fix copyright headers to SPDX format in all 10 source files - Fix namespace inconsistency: actuation files now use multi_ecu_demo - Add blocking sleep comments in path_planner and point_cloud_filter - Fix inject-cascade-failure.sh header comment (wrong parameters) - Use error counter pattern in inject-cascade-failure.sh Infrastructure: - Add check-demo.sh readiness script (polls health, shows entity counts) - Add smoke test (tests/smoke_test_multi_ecu.sh) using smoke_lib.sh - Add CI profile services to docker-compose.yml (headless, no web UI) - Add build-and-test-multi-ecu job to CI workflow - Share Docker image across ECU services (multi-ecu-demo:local) UX/correctness: - Add fault-clearing curl calls to all 3 restore scripts - Add gateway reachability check to host-side injection scripts - Use demo-specific container_name for web UI (multi_ecu_web_ui) - Quote ECU_LAUNCH in Dockerfile CMD - Update top-level README with new demo entry
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‎.github/workflows/ci.yml‎

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@@ -116,3 +116,50 @@ jobs:
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if: always()
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working-directory: demos/moveit_pick_place
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run: docker compose --profile ci down
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build-and-test-multi-ecu:
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needs: lint
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runs-on: ubuntu-24.04
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steps:
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- name: Show triggering source
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if: github.event_name == 'repository_dispatch'
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run: |
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SHA="${{ github.event.client_payload.sha }}"
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RUN_URL="${{ github.event.client_payload.run_url }}"
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echo "## Triggered by ros2_medkit" >> "$GITHUB_STEP_SUMMARY"
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echo "- Commit: \`${SHA:-unknown}\`" >> "$GITHUB_STEP_SUMMARY"
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if [ -n "$RUN_URL" ]; then
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echo "- Run: [View triggering run]($RUN_URL)" >> "$GITHUB_STEP_SUMMARY"
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else
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echo "- Run: (URL not provided)" >> "$GITHUB_STEP_SUMMARY"
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fi
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- name: Checkout repository
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uses: actions/checkout@v4
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- name: Build and start multi-ECU demo
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working-directory: demos/multi_ecu_aggregation
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run: docker compose --profile ci up -d --build perception-ecu-ci planning-ecu-ci actuation-ecu-ci
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- name: Run smoke tests
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run: ./tests/smoke_test_multi_ecu.sh
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- name: Show perception ECU logs on failure
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if: failure()
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working-directory: demos/multi_ecu_aggregation
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run: docker compose --profile ci logs perception-ecu-ci --tail=200
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- name: Show planning ECU logs on failure
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if: failure()
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working-directory: demos/multi_ecu_aggregation
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run: docker compose --profile ci logs planning-ecu-ci --tail=200
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- name: Show actuation ECU logs on failure
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if: failure()
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working-directory: demos/multi_ecu_aggregation
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run: docker compose --profile ci logs actuation-ecu-ci --tail=200
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- name: Teardown
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if: always()
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working-directory: demos/multi_ecu_aggregation
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run: docker compose --profile ci down

‎README.md‎

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@@ -14,11 +14,12 @@ This repository contains example integrations and demos that show how ros2_medki
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can be used to add SOVD-compliant diagnostics and fault management to ROS 2-based robots and systems.
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Each demo builds on real-world scenarios, progressing from simple sensor monitoring
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to complete mobile robot integration:
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to complete mobile robot integration and multi-ECU peer aggregation:
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- **Sensor Diagnostics** — Lightweight demo focusing on data monitoring and fault injection
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- **TurtleBot3 Integration** — Full-featured demo with Nav2 navigation, showing entity hierarchy and real-time control
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- **MoveIt Pick-and-Place** — Panda 7-DOF arm manipulation with MoveIt 2, fault monitoring for planning, controllers, and joint limits
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- **Sensor Diagnostics** - Lightweight demo focusing on data monitoring and fault injection
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- **TurtleBot3 Integration** - Full-featured demo with Nav2 navigation, showing entity hierarchy and real-time control
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- **MoveIt Pick-and-Place** - Panda 7-DOF arm manipulation with MoveIt 2, fault monitoring for planning, controllers, and joint limits
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- **Multi-ECU Aggregation** - Peer aggregation with 3 ECUs (perception, planning, actuation), mDNS discovery, and cross-ECU functions
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**Key Capabilities Demonstrated:**
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@@ -29,8 +30,11 @@ to complete mobile robot integration:
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- ✅ Fault management and injection
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- ✅ Manifest-based entity discovery
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- ✅ Legacy diagnostics bridge support
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- ✅ Multi-ECU peer aggregation
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- ✅ mDNS-based ECU discovery
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- ✅ Cross-ECU function grouping
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Both demos support:
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All demos support:
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- REST API access via SOVD protocol
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- Web UI for visualization ([ros2_medkit_web_ui](https://github.com/selfpatch/ros2_medkit_web_ui))
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| [Sensor Diagnostics](demos/sensor_diagnostics/) | Lightweight sensor diagnostics demo (no Gazebo required) | Data monitoring, fault injection, dual fault reporting paths | ✅ Ready |
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| [TurtleBot3 Integration](demos/turtlebot3_integration/) | Full ros2_medkit integration with TurtleBot3 and Nav2 | SOVD-compliant API, manifest-based discovery, fault management | ✅ Ready |
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| [MoveIt Pick-and-Place](demos/moveit_pick_place/) | Panda 7-DOF arm with MoveIt 2 manipulation and ros2_medkit | Planning fault detection, controller monitoring, joint limits | ✅ Ready |
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| [Multi-ECU Aggregation](demos/multi_ecu_aggregation/) | Multi-ECU peer aggregation with 3 ECUs (perception, planning, actuation), mDNS discovery, cross-ECU functions | Peer aggregation, mDNS discovery, cross-ECU functions | ✅ Ready |
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### Quick Start
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- 5 fault injection scenarios with one-click scripts
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- SOVD-compliant REST API with rich entity hierarchy (4 areas, 7 components)
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#### Multi-ECU Aggregation Demo (Advanced - Peer Aggregation)
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Multi-ECU demo with 3 independent ECUs aggregated via mDNS discovery:
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```bash
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cd demos/multi_ecu_aggregation
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./run-demo.sh
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./check-demo.sh # Verify all 3 ECUs are connected
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# Gateway at http://localhost:8080, Web UI at http://localhost:3000
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# To stop
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./stop-demo.sh
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```
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**Features:**
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- 3 independent ECUs (perception, planning, actuation) each running ros2_medkit
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- Peer aggregation via mDNS-based automatic ECU discovery
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- Cross-ECU function grouping across the full system
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- Unified SOVD-compliant REST API spanning all ECUs
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- Web UI for browsing aggregated entity hierarchy
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## Getting Started
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### Prerequisites
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or follow the detailed README in each demo directory:
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```bash
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cd demos/sensor_diagnostics # or turtlebot3_integration
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cd demos/sensor_diagnostics # or turtlebot3_integration, moveit_pick_place, multi_ecu_aggregation
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# Follow the README.md in that directory
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```
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./tests/smoke_test_moveit.sh # MoveIt pick-and-place (discovery, data, operations, scripts, triggers, logs)
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```
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CI runs all 3 demos in parallel - each job builds the Docker image, starts the container, and runs the smoke tests against it. See [CI workflow](.github/workflows/ci.yml).
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CI runs all 4 demos in parallel - each job builds the Docker image, starts the container, and runs the smoke tests against it. See [CI workflow](.github/workflows/ci.yml).
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## Related Projects
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‎demos/multi_ecu_aggregation/Dockerfile‎

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# ECU_LAUNCH env var selects which launch file to run
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ENV ECU_LAUNCH=perception.launch.py
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CMD ["bash", "-c", "mkdir -p /var/lib/ros2_medkit/rosbags && source /opt/ros/jazzy/setup.bash && source /root/demo_ws/install/setup.bash && ros2 launch multi_ecu_demo ${ECU_LAUNCH}"]
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CMD ["bash", "-c", "mkdir -p /var/lib/ros2_medkit/rosbags && source /opt/ros/jazzy/setup.bash && source /root/demo_ws/install/setup.bash && ros2 launch multi_ecu_demo \"${ECU_LAUNCH}\""]

‎demos/multi_ecu_aggregation/check-demo.sh‎

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#!/bin/bash
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# Multi-ECU Aggregation Demo - Readiness Check
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# Waits for the gateway to become healthy, verifies peer connections, and prints entity counts
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set -eu
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GATEWAY_URL="${GATEWAY_URL:-http://localhost:8080}"
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API_BASE="${GATEWAY_URL}/api/v1"
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TIMEOUT=60
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# Colors for output
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RED='\033[0;31m'
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GREEN='\033[0;32m'
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YELLOW='\033[0;33m'
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BLUE='\033[0;34m'
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BOLD='\033[1m'
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NC='\033[0m'
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echo_success() { echo -e "${GREEN}ok${NC} $1"; }
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echo_fail() { echo -e "${RED}FAIL${NC} $1"; }
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echo_warn() { echo -e "${YELLOW}WARN${NC} $1"; }
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echo_info() { echo -e "${BLUE}--${NC} $1"; }
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# Check dependencies
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for cmd in curl jq; do
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if ! command -v "$cmd" >/dev/null 2>&1; then
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echo_fail "Required tool '$cmd' is not installed."
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exit 1
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fi
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done
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echo ""
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echo -e "${BOLD}Multi-ECU Aggregation Demo - Readiness Check${NC}"
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echo "=============================================="
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echo ""
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# --- 1. Poll health endpoint until it responds ---
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echo -n "Waiting for gateway at ${GATEWAY_URL} "
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elapsed=0
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while [ "$elapsed" -lt "$TIMEOUT" ]; do
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if curl -sf "${API_BASE}/health" >/dev/null 2>&1; then
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break
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fi
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echo -n "."
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sleep 2
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elapsed=$((elapsed + 2))
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done
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echo ""
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if [ "$elapsed" -ge "$TIMEOUT" ]; then
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echo_fail "Gateway did not respond within ${TIMEOUT}s"
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echo " Start the demo first: ./run-demo.sh"
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exit 1
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fi
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HEALTH_JSON=$(curl -sf "${API_BASE}/health")
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status=$(echo "$HEALTH_JSON" | jq -r '.status')
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uptime=$(echo "$HEALTH_JSON" | jq -r '.uptime_seconds // "n/a"')
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echo_success "Gateway is healthy (status=${status}, uptime=${uptime}s)"
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echo ""
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# --- 2. Check aggregation peers ---
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echo -e "${BOLD}Peer Connections${NC}"
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echo "----------------"
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PEER_COUNT=$(echo "$HEALTH_JSON" | jq '[.peers // [] | .[] ] | length')
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if [ "$PEER_COUNT" -ge 2 ]; then
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echo_success "${PEER_COUNT} peers connected"
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else
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echo_warn "Expected 2 peers, found ${PEER_COUNT}"
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fi
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# Print individual peer status
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echo "$HEALTH_JSON" | jq -r '
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.peers // [] | .[] |
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" \(.name // .url) - \(.status // "unknown")"
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' 2>/dev/null || true
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echo ""
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# --- 3. Entity counts ---
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echo -e "${BOLD}Entity Counts${NC}"
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echo "-------------"
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for entity in areas components apps functions; do
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response=$(curl -sf "${API_BASE}/${entity}" 2>/dev/null) || response=""
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if [ -n "$response" ]; then
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count=$(echo "$response" | jq '.items | length')
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echo_info "${entity}: ${count}"
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else
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echo_warn "${entity}: endpoint unavailable"
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fi
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done
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echo ""
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# --- 4. Summary ---
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echo -e "${BOLD}Summary${NC}"
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echo "-------"
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if [ "$PEER_COUNT" -ge 2 ]; then
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echo_success "Demo is ready - all peers connected"
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echo ""
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echo " Web UI: http://localhost:3000"
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echo " REST API: ${API_BASE}/"
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echo ""
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echo " Try:"
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echo " curl ${API_BASE}/components | jq '.items[].id'"
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echo " curl ${API_BASE}/functions | jq '.items[].id'"
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echo " ./inject-cascade-failure.sh"
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exit 0
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else
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echo_fail "Demo is not fully ready - waiting for peers"
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echo ""
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echo " Peers may still be booting. Retry in a few seconds:"
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echo " ./check-demo.sh"
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echo ""
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echo " To inspect peer config:"
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echo " curl ${API_BASE}/health | jq '.peers'"
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exit 1
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fi

‎demos/multi_ecu_aggregation/container_scripts/actuation-ecu/restore-normal/script.bash‎

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echo "{\"status\": \"partial\", \"errors\": $ERRORS}"
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exit 1
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fi
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# Clear faults
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GATEWAY_URL="${GATEWAY_URL:-http://localhost:8080}"
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API_BASE="${GATEWAY_URL}/api/v1"
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echo "Clearing faults..."
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curl -sf -X DELETE "${API_BASE}/faults" > /dev/null 2>&1 || true
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sleep 2
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curl -sf -X DELETE "${API_BASE}/faults" > /dev/null 2>&1 || true
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echo '{"status": "restored", "ecu": "actuation"}'

‎demos/multi_ecu_aggregation/container_scripts/perception-ecu/restore-normal/script.bash‎

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echo "{\"status\": \"partial\", \"errors\": $ERRORS}"
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exit 1
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fi
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# Clear faults
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GATEWAY_URL="${GATEWAY_URL:-http://localhost:8080}"
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API_BASE="${GATEWAY_URL}/api/v1"
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echo "Clearing faults..."
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curl -sf -X DELETE "${API_BASE}/faults" > /dev/null 2>&1 || true
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sleep 2
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curl -sf -X DELETE "${API_BASE}/faults" > /dev/null 2>&1 || true
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echo '{"status": "restored", "ecu": "perception"}'

‎demos/multi_ecu_aggregation/container_scripts/planning-ecu/restore-normal/script.bash‎

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echo "{\"status\": \"partial\", \"errors\": $ERRORS}"
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exit 1
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fi
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# Clear faults
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GATEWAY_URL="${GATEWAY_URL:-http://localhost:8080}"
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API_BASE="${GATEWAY_URL}/api/v1"
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echo "Clearing faults..."
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curl -sf -X DELETE "${API_BASE}/faults" > /dev/null 2>&1 || true
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sleep 2
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curl -sf -X DELETE "${API_BASE}/faults" > /dev/null 2>&1 || true
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echo '{"status": "restored", "ecu": "planning"}'

‎demos/multi_ecu_aggregation/docker-compose.yml‎

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build:
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context: .
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dockerfile: Dockerfile
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image: multi-ecu-demo:local
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container_name: perception_ecu
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hostname: perception-ecu
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ports:
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build:
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context: .
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dockerfile: Dockerfile
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image: multi-ecu-demo:local
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container_name: planning_ecu
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hostname: planning-ecu
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environment:
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build:
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context: .
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dockerfile: Dockerfile
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image: multi-ecu-demo:local
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container_name: actuation_ecu
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hostname: actuation-ecu
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environment:
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# Web UI for visualization (connects to perception ECU gateway)
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medkit-web-ui:
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image: ghcr.io/selfpatch/ros2_medkit_web_ui:latest
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container_name: ros2_medkit_web_ui
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container_name: multi_ecu_web_ui
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ports:
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- "3000:80"
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depends_on:
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- perception-ecu
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networks: [medkit-net]
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# --- CI services (headless, no web UI) ---
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# Perception ECU for CI testing
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perception-ecu-ci:
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profiles: ["ci"]
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build:
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context: .
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dockerfile: Dockerfile
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image: multi-ecu-demo:local
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container_name: perception_ecu_ci
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hostname: perception-ecu
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ports:
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- "8080:8080"
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environment:
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- ROS_DOMAIN_ID=10
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- ECU_LAUNCH=perception.launch.py
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networks: [medkit-net]
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# Planning ECU for CI testing
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planning-ecu-ci:
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profiles: ["ci"]
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build:
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context: .
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dockerfile: Dockerfile
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image: multi-ecu-demo:local
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container_name: planning_ecu_ci
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hostname: planning-ecu
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environment:
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- ROS_DOMAIN_ID=20
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- ECU_LAUNCH=planning.launch.py
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networks: [medkit-net]
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# Actuation ECU for CI testing
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actuation-ecu-ci:
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profiles: ["ci"]
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build:
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context: .
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dockerfile: Dockerfile
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image: multi-ecu-demo:local
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container_name: actuation_ecu_ci
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hostname: actuation-ecu
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environment:
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- ROS_DOMAIN_ID=30
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- ECU_LAUNCH=actuation.launch.py
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networks: [medkit-net]
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networks:
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medkit-net:
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driver: bridge

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