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feat(sensor-demo): add snapshot and rosbag recording support
Add fault_manager configuration to sensor_diagnostics demo with: - SQLite storage for fault persistence - Freeze-frame snapshot capture on fault confirmation - MCAP rosbag recording with ring buffer (10s pre + 2s post fault) - Sensor topics included: /sensors/scan, imu, fix, image_raw Infrastructure changes: - Pass medkit_params to fault_manager node in launch file - Create /var/lib/ros2_medkit/rosbags dir in Dockerfile - Add sqlite3 package to Dockerfile - Add persistent medkit_data volume to docker-compose - Add bulk-data/snapshot demo steps to check-demo.sh
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‎demos/sensor_diagnostics/Dockerfile‎

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@@ -16,6 +16,7 @@ RUN apt-get update && apt-get install -y \
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python3-requests \
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nlohmann-json3-dev \
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libcpp-httplib-dev \
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sqlite3 \
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libsqlite3-dev \
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git \
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curl \
@@ -48,6 +49,9 @@ RUN bash -c "source /opt/ros/jazzy/setup.bash && \
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--skip-keys='ament_cmake_clang_format ament_cmake_clang_tidy test_msgs example_interfaces sqlite3' && \
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colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF"
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# Create storage directories for faults and rosbags
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RUN mkdir -p /var/lib/ros2_medkit/rosbags
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# Setup environment
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RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \
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echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc

‎demos/sensor_diagnostics/check-demo.sh‎

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@@ -90,6 +90,42 @@ curl -s "${API_BASE}/apps/lidar-sim/configurations" | jq '.items[] | {name: .nam
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echo_step "9. Checking Current Faults"
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curl -s "${API_BASE}/faults" | jq '.'
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# If there are faults, demonstrate snapshot / bulk-data endpoints
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FAULT_COUNT=$(curl -s "${API_BASE}/faults" | jq '.items | length')
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if [ "$FAULT_COUNT" -gt 0 ]; then
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FIRST_FAULT=$(curl -s "${API_BASE}/faults" | jq -r '.items[0].code')
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FIRST_ENTITY=$(curl -s "${API_BASE}/faults" | jq -r '.items[0].entity_id')
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echo_step "10. Fault Detail with Environment Data (Snapshots)"
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echo "Fetching fault ${FIRST_FAULT} on entity ${FIRST_ENTITY}..."
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curl -s "${API_BASE}/${FIRST_ENTITY}/faults/${FIRST_FAULT}" | jq '{
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code: .item.code,
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status: .item.status,
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environment_data: {
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extended_data_records: .environment_data.extended_data_records,
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snapshot_count: (.environment_data.snapshots | length)
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}
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}'
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echo_step "11. Bulk-Data Categories (Rosbag Recordings)"
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echo "Checking available bulk-data categories..."
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curl -s "${API_BASE}/${FIRST_ENTITY}/bulk-data" | jq '.'
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echo_step "12. Bulk-Data Descriptors (Rosbag Files)"
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echo "Listing available rosbag recordings..."
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curl -s "${API_BASE}/${FIRST_ENTITY}/bulk-data/rosbags" | jq '.items[] | {
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id: .id,
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name: .name,
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size: .size,
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mimetype: .mimetype,
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"x-medkit": ."x-medkit"
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}'
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else
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echo ""
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echo " No active faults. Inject a fault first to see snapshot/bulk-data features:"
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echo " ./inject-noise.sh && sleep 5 && bash $0"
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fi
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echo ""
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echo_success "API demonstration complete!"
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echo ""
@@ -100,9 +136,10 @@ echo " ./inject-nan.sh # Inject NaN values"
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echo " ./inject-drift.sh # Inject sensor drift"
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echo " ./restore-normal.sh # Restore normal operation"
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echo ""
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echo "📸 After injecting a fault, check snapshots and rosbags:"
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echo " curl ${API_BASE}/faults | jq # List faults"
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echo " curl ${API_BASE}/components/lidar-unit/faults/<CODE> | jq # Fault detail + snapshots"
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echo " curl ${API_BASE}/components/lidar-unit/bulk-data/rosbags | jq # List rosbag recordings"
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echo ""
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echo "🌐 Web UI: http://localhost:3000"
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echo "🌐 REST API: http://localhost:8080/api/v1/"
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echo ""
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echo "📖 More examples:"
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echo " curl ${API_BASE}/apps/imu-sim/configurations | jq # IMU parameters"
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echo " curl ${API_BASE}/apps/gps-sim/data/fix | jq # GPS data"

‎demos/sensor_diagnostics/config/medkit_params.yaml‎

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@@ -26,3 +26,55 @@ diagnostics:
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discovery:
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runtime:
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create_synthetic_components: false # Manifest defines components
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# Fault Manager configuration (runs in root namespace)
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fault_manager:
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ros__parameters:
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# Storage configuration
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storage_type: "sqlite"
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database_path: "/var/lib/ros2_medkit/faults.db"
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# Debounce configuration
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confirmation_threshold: 0 # Immediate confirmation
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healing_enabled: false
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healing_threshold: 3
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auto_confirm_after_sec: 0.0
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# Snapshot configuration (freeze frames)
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snapshots:
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enabled: true
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background_capture: true # Non-blocking capture
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timeout_sec: 2.0
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max_message_size: 131072 # 128KB max per message
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# Topics to capture for all faults
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default_topics:
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- /sensors/scan
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- /sensors/imu
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- /sensors/fix
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- /sensors/image_raw
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- /diagnostics
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# Rosbag recording configuration
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rosbag:
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enabled: true
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duration_sec: 10.0 # Record 10 seconds before fault confirmation
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duration_after_sec: 2.0 # Record 2 seconds after confirmation
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lazy_start: false # Always recording (ring buffer)
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format: "mcap" # MCAP format (recommended for cross-platform)
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storage_path: "/var/lib/ros2_medkit/rosbags"
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max_bag_size_mb: 100 # Max size per rosbag file
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max_total_storage_mb: 1000 # 1GB total storage limit
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auto_cleanup: true # Cleanup rosbags on fault clear
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# Topics to record (use 'config' or 'all')
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topics: "config" # Use include/exclude lists below
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include_topics:
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- /sensors/scan
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- /sensors/imu
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- /sensors/fix
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- /sensors/image_raw
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- /diagnostics
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exclude_topics:
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- /rosout
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- /parameter_events

‎demos/sensor_diagnostics/docker-compose.yml‎

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@@ -7,6 +7,8 @@ services:
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container_name: sensor_diagnostics_demo
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environment:
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- ROS_DOMAIN_ID=40
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volumes:
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- medkit_data:/var/lib/ros2_medkit # Persistent storage for faults and rosbags
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ports:
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- "8080:8080"
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stdin_open: true
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curl -sf http://localhost:8080/api/v1/health &&
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curl -sf http://localhost:8080/api/v1/apps | jq '.items[] | .id' &&
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echo 'CI validation passed!'"
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volumes:
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medkit_data:
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name: sensor_diagnostics_medkit_data

‎demos/sensor_diagnostics/launch/demo.launch.py‎

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@@ -125,13 +125,17 @@ def generate_launch_description():
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# ===== Fault Manager (at root namespace) =====
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# Services at /fault_manager/* (e.g., /fault_manager/report_fault)
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# Both paths report here: diagnostic_bridge (legacy) and anomaly_detector (modern)
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# Also handles snapshot and rosbag capture when faults are confirmed
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Node(
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package="ros2_medkit_fault_manager",
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executable="fault_manager_node",
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name="fault_manager",
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namespace="", # Root namespace so services are at /fault_manager/*
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output="screen",
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parameters=[{"use_sim_time": use_sim_time}],
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parameters=[
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medkit_params_file,
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{"use_sim_time": use_sim_time},
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],
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),
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]
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)

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