fix(moveit-demo): address PR review comments

Scripts:
- Add container auto-detection (CONTAINER_NAME env or grep for
  moveit_medkit_demo / moveit_medkit_demo_nvidia) in all docker exec
  scripts (inject-*, restore-normal)
- Guard pick_place_loop against overlapping goals (goal_in_flight flag)
- Use zip() instead of index-based iteration in joint_state_callback
- Remove unused Optional import from manipulation_monitor
- Add comment to bare except in pick_place_loop

Config:
- Rename task-constructor → pick-place-loop, mtc-pick-place →
  pick-place-node in panda_manifest.yaml to match actual demo node
- Restrict CORS origins from wildcard to localhost:8080/3000

Packaging:
- Add missing exec_depend entries in package.xml (rclpy, action_msgs,
  sensor_msgs, moveit_msgs, ros2_medkit_msgs)
- Pin ros2_medkit clone to configurable ARG ROS2_MEDKIT_REF in Dockerfile
- Remove rosdep || true fallback to fail on missing dependencies

run-demo.sh:
- Skip X11/xhost setup in headless mode or when DISPLAY is unset
- Add --gazebo flag to usage help text
- Fix image size estimate in output message

Docs:
- Update README to reflect Gazebo as default simulation mode
- Rename entity hierarchy entries to match updated manifest

Author: bburda

demos/moveit_pick_place/Dockerfile

@@ -32,9 +32,10 @@ RUN apt-get update && apt-get install -y \
     sqlite3 libsqlite3-dev git curl \
     && rm -rf /var/lib/apt/lists/*
 
-# Clone ros2_medkit from GitHub
+# Clone ros2_medkit from GitHub (pinned to a specific ref for reproducibility)
+ARG ROS2_MEDKIT_REF=main
 WORKDIR ${COLCON_WS}/src
-RUN git clone --depth 1 https://github.com/selfpatch/ros2_medkit.git && \
+RUN git clone --depth 1 --branch ${ROS2_MEDKIT_REF} https://github.com/selfpatch/ros2_medkit.git && \
     mv ros2_medkit/src/ros2_medkit_gateway \
        ros2_medkit/src/ros2_medkit_msgs \
        ros2_medkit/src/ros2_medkit_serialization \
@@ -53,7 +54,7 @@ COPY scripts/ ${COLCON_WS}/src/moveit_medkit_demo/scripts/
 WORKDIR ${COLCON_WS}
 RUN bash -c "source /opt/ros/jazzy/setup.bash && \
     rosdep update && \
-    rosdep install --from-paths src --ignore-src -r -y || true" && \
+    rosdep install --from-paths src --ignore-src -r -y" && \
     bash -c "source /opt/ros/jazzy/setup.bash && \
     colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF"
 

demos/moveit_pick_place/README.md

@@ -46,19 +46,19 @@ That's it! The script will:
 ### 2. Available Options
 
 ```bash
-./run-demo.sh                  # Default: CPU, fake hardware, daemon mode
-./run-demo.sh --gazebo         # Gazebo Harmonic physics simulation
-./run-demo.sh --gazebo --nvidia # Gazebo + GPU acceleration
-./run-demo.sh --nvidia         # GPU acceleration (fake hardware)
+./run-demo.sh                  # Default: Gazebo simulation, daemon mode
+./run-demo.sh --fake           # Fake hardware (mock controllers, no physics)
+./run-demo.sh --nvidia         # Gazebo + GPU acceleration
+./run-demo.sh --fake --nvidia  # Fake hardware + GPU acceleration
 ./run-demo.sh --headless       # No GUI (CI/server)
 ./run-demo.sh --attached       # Foreground with logs
 ./run-demo.sh --no-cache       # Rebuild without cache
 ./run-demo.sh --update         # Pull latest images first
 ```
 
 **Simulation modes:**
-- **Default (fake hardware)** — Mock controllers echo commanded positions instantly. Fast startup (~10s), works headless, no physics. Good for diagnostics testing.
-- **Gazebo (`--gazebo`)** — Gazebo Harmonic physics simulation with `gz_ros2_control`. Realistic dynamics, 3D world view. Slower startup (~30s), needs X11 or `--headless`. Recommended with `--nvidia` for GPU acceleration.
+- **Default (Gazebo)** — Gazebo Harmonic physics simulation with `gz_ros2_control`. Realistic dynamics, 3D world view. Slower startup (~30s), needs X11 or `--headless`. Recommended with `--nvidia` for GPU acceleration.
+- **Fake hardware (`--fake`)** — Mock controllers echo commanded positions instantly. Fast startup (~10s), works headless, no physics. Good for diagnostics testing.
 
 ### 3. Moving the Arm
 
@@ -141,8 +141,8 @@ Areas
 │   Components
 │   ├── moveit-planning  — OMPL planning pipeline
 │   │   Apps: move-group
-│   └── task-constructor — Pick-and-place coordinator
-│       Apps: mtc-pick-place
+│   └── pick-place-loop — Pick-and-place demo node
+│       Apps: pick-place-node
 │
 ├── diagnostics/         — ros2_medkit gateway and fault management
 │   Components

demos/moveit_pick_place/config/medkit_params.yaml

@@ -11,7 +11,9 @@ diagnostics:
       refresh_interval_ms: 10000  # 10 seconds (default), reduces log spam
 
       cors:
-        allowed_origins: ["*"]
+        # Restrict origins to localhost by default; add explicit origins
+        # (e.g., "http://your-ui-host:3000") for cross-host access.
+        allowed_origins: ["http://localhost:8080", "http://localhost:3000"]
         allowed_methods: ["GET", "PUT", "POST", "DELETE", "OPTIONS"]
         allowed_headers: ["Content-Type", "Accept"]
         allow_credentials: false

demos/moveit_pick_place/config/panda_manifest.yaml

@@ -57,10 +57,10 @@ components:
     description: "MoveIt 2 motion planning pipeline (OMPL)"
     area: planning
 
-  - id: task-constructor
-    name: "Task Constructor"
+  - id: pick-place-loop
+    name: "Pick-and-Place Loop"
     type: "controller"
-    description: "MoveIt Task Constructor pick-and-place coordinator"
+    description: "Custom pick_place_loop.py pick-and-place demo node"
     area: planning
 
   - id: gateway
@@ -135,10 +135,10 @@ apps:
       node_name: move_group
       namespace: /
 
-  - id: mtc-pick-place
+  - id: pick-place-node
     name: "Pick-and-Place Loop"
     category: "application"
-    is_located_on: task-constructor
+    is_located_on: pick-place-loop
     description: "Continuous pick-and-place task executor"
     depends_on:
       - move-group
@@ -196,7 +196,7 @@ functions:
     category: "manipulation"
     description: "Pick objects and place them at target positions"
     hosted_by:
-      - mtc-pick-place
+      - pick-place-node
       - move-group
       - panda-arm-controller
       - panda-hand-controller

demos/moveit_pick_place/inject-collision.sh

@@ -24,7 +24,16 @@ fi
 
 # Add a sphere right in the arm's working area via /apply_planning_scene service
 echo "Adding surprise obstacle (sphere) to planning scene..."
-docker exec moveit_medkit_demo bash -c "
+
+# Auto-detect running demo container (supports CPU and NVIDIA profiles)
+CONTAINER="${CONTAINER_NAME:-$(docker ps --format '{{.Names}}' | grep -E '^moveit_medkit_demo(_nvidia)?$' | head -n1)}"
+if [ -z "${CONTAINER}" ]; then
+    echo "❌ Could not find a running MoveIt demo container."
+    echo "   Start the demo first, or set CONTAINER_NAME explicitly."
+    exit 1
+fi
+
+docker exec "${CONTAINER}" bash -c "
 source /opt/ros/jazzy/setup.bash && \
 source /root/demo_ws/install/setup.bash && \
 python3 -c \"

demos/moveit_pick_place/inject-grasp-failure.sh

@@ -28,7 +28,16 @@ fi
 
 # Move the target cylinder far away from the robot via /apply_planning_scene service
 echo "Moving target object to unreachable position (5.0, 5.0, 0.1)..."
-docker exec moveit_medkit_demo bash -c "
+
+# Auto-detect running demo container (supports CPU and NVIDIA profiles)
+CONTAINER="${CONTAINER_NAME:-$(docker ps --format '{{.Names}}' | grep -E '^moveit_medkit_demo(_nvidia)?$' | head -n1)}"
+if [ -z "${CONTAINER}" ]; then
+    echo "❌ Could not find a running MoveIt demo container."
+    echo "   Start the demo first, or set CONTAINER_NAME explicitly."
+    exit 1
+fi
+
+docker exec "${CONTAINER}" bash -c "
 source /opt/ros/jazzy/setup.bash && \
 source /root/demo_ws/install/setup.bash && \
 python3 -c \"

demos/moveit_pick_place/inject-planning-failure.sh

@@ -24,7 +24,16 @@ fi
 
 # Add a large wall via /apply_planning_scene service (reliable)
 echo "Adding collision wall to planning scene..."
-docker exec moveit_medkit_demo bash -c "
+
+# Auto-detect running demo container (supports CPU and NVIDIA profiles)
+CONTAINER="${CONTAINER_NAME:-$(docker ps --format '{{.Names}}' | grep -E '^moveit_medkit_demo(_nvidia)?$' | head -n1)}"
+if [ -z "${CONTAINER}" ]; then
+    echo "❌ Could not find a running MoveIt demo container."
+    echo "   Start the demo first, or set CONTAINER_NAME explicitly."
+    exit 1
+fi
+
+docker exec "${CONTAINER}" bash -c "
 source /opt/ros/jazzy/setup.bash && \
 source /root/demo_ws/install/setup.bash && \
 python3 -c \"

demos/moveit_pick_place/package.xml

@@ -10,6 +10,11 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>ros2launch</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>action_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>moveit_msgs</exec_depend>
+  <exec_depend>ros2_medkit_msgs</exec_depend>
   <exec_depend>moveit_ros_planning_interface</exec_depend>
   <exec_depend>moveit_resources_panda_moveit_config</exec_depend>
   <exec_depend>moveit_resources_panda_description</exec_depend>

demos/moveit_pick_place/restore-normal.sh

@@ -24,7 +24,16 @@ fi
 # 1. Remove injected collision objects via /apply_planning_scene service
 # Using service call (not topic pub) for reliable planning scene updates
 echo "Removing injected collision objects..."
-docker exec moveit_medkit_demo bash -c "
+
+# Auto-detect running demo container (supports CPU and NVIDIA profiles)
+CONTAINER="${CONTAINER_NAME:-$(docker ps --format '{{.Names}}' | grep -E '^moveit_medkit_demo(_nvidia)?$' | head -n1)}"
+if [ -z "${CONTAINER}" ]; then
+    echo "❌ Could not find a running MoveIt demo container."
+    echo "   Start the demo first, or set CONTAINER_NAME explicitly."
+    exit 1
+fi
+
+docker exec "${CONTAINER}" bash -c "
 source /opt/ros/jazzy/setup.bash && \
 source /root/demo_ws/install/setup.bash && \
 python3 -c \"

demos/moveit_pick_place/run-demo.sh

@@ -15,18 +15,22 @@ if ! command -v docker &> /dev/null; then
     exit 1
 fi
 
-# Setup X11 forwarding for RViz GUI
-echo "Setting up X11 forwarding..."
-xhost +local:docker 2>/dev/null || {
-    echo "   Warning: xhost failed. GUI may not work."
-    echo "   Install with: sudo apt install x11-xserver-utils"
-}
+# Setup X11 forwarding for RViz GUI (skip in headless mode or when no display)
+if [[ "${HEADLESS:-false}" != "true" ]] && [[ -n "${DISPLAY:-}" ]]; then
+    echo "Setting up X11 forwarding..."
+    xhost +local:docker 2>/dev/null || {
+        echo "   Warning: xhost failed. GUI may not work."
+        echo "   Install with: sudo apt install x11-xserver-utils"
+    }
+fi
 
 # Cleanup function
 cleanup() {
     echo ""
     echo "Cleaning up..."
-    xhost -local:docker 2>/dev/null || true
+    if [[ "${HEADLESS:-false}" != "true" ]] && [[ -n "${DISPLAY:-}" ]]; then
+        xhost -local:docker 2>/dev/null || true
+    fi
     echo "Done!"
 }
 trap cleanup EXIT
@@ -44,6 +48,7 @@ usage() {
     echo ""
     echo "Options:"
     echo "  --nvidia     Use NVIDIA GPU acceleration"
+    echo "  --gazebo     Run in Gazebo simulation mode (default)"
     echo "  --fake       Use fake hardware (mock controllers, no physics)"
     echo "  --no-cache   Build Docker images without cache"
     echo "  --headless   Run without GUI (default: GUI enabled)"
@@ -53,6 +58,7 @@ usage() {
     echo ""
     echo "Examples:"
     echo "  $0                      # Daemon mode with Gazebo (default)"
+    echo "  $0 --gazebo             # Gazebo simulation mode (default)"
     echo "  $0 --attached           # Foreground with logs"
     echo "  $0 --headless           # Headless mode (no GUI)"
     echo "  $0 --fake               # Fake hardware (no physics sim)"
@@ -126,7 +132,7 @@ echo "Run mode: $([ "$DETACH_MODE" = "true" ] && echo "daemon (background)" || e
 
 # Build and run
 echo "   Building and starting demo..."
-echo "   (First run takes ~15-20 min, downloading ~5-6GB image)"
+echo "   (First run takes ~15-20 min, downloading ~7GB image)"
 echo ""
 echo "🌐 REST API available at: http://localhost:8080/api/v1/"
 echo "🌐 Web UI available at: http://localhost:3000/"