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Add Scripts API support to all demos#50

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bburda merged 11 commits intomainfrom
feat/42-scripts-api-demo
Mar 22, 2026
Merged

Add Scripts API support to all demos#50
bburda merged 11 commits intomainfrom
feat/42-scripts-api-demo

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@bburda bburda commented Mar 22, 2026

Description

Migrate all demo inject/restore scripts to the gateway's Scripts API and add new diagnostic scripts. Scripts now run inside Docker containers and are callable via REST API, visible in the web UI.

Two-layer architecture:

  • Container-side scripts in gateway's filesystem auto-discovery layout (/var/lib/ros2_medkit/scripts/{entity_id}/{script_id}/)
  • Host-side thin wrappers calling POST /scripts/{id}/executions via shared lib/scripts-api.sh

Per demo:

Demo Container scripts New scripts
sensor_diagnostics 7 run-diagnostics, inject-fault-scenario
turtlebot3 5 nav-health-check, reset-navigation
moveit 5 arm-self-test, planning-benchmark

Key changes:

  • No more docker exec in any host-side script
  • All scripts discoverable via GET /components/{id}/scripts
  • Shared lib/scripts-api.sh with polling, timeout, progress feedback, stdout display
  • jq added to turtlebot3 and moveit Dockerfiles
  • Scripts section enabled in all 3 medkit_params.yaml
  • READMEs updated with Scripts API docs, examples, env var overrides

Follow-up: TODO(#49) markers for migration to manifest-defined scripts once ros2_medkit#303 lands (managed=true semantics).

Related Issue

closes #42

Checklist

  • Tested locally (Docker build + E2E: scripts discovered, executed, stdout captured)
  • README updated (all 3 demos)

bburda added 8 commits March 22, 2026 15:50
@bburda
feat(lib): add shared Scripts API helper for host-side wrappers
82571f0 
Introduces lib/scripts-api.sh, a sourced bash library that centralises
the poll-and-wait logic for calling the gateway Scripts API. All
host-side wrapper scripts across the sensor_diagnostics, turtlebot3,
and moveit demos will source this file rather than duplicating the
implementation.

Provides: execute_script(), list_scripts(), check_gateway(), and
dependency checks for curl and jq at source time. Configurable via
GATEWAY_URL, POLL_INTERVAL, and MAX_WAIT environment variables.
@bburda
feat(sensor_diagnostics): add Scripts API support
87aaed1 
- 7 container-side scripts in auto-discovery layout (compute-unit entity)
- Enable scripts section in medkit_params.yaml
- COPY container_scripts in Dockerfile
- Rewrite host-side scripts as Scripts API wrappers
- New scripts: run-diagnostics, inject-fault-scenario
@bburda
docs(sensor_diagnostics): add Scripts API documentation to README
511ce69 
Document the Scripts API endpoint for calling inject/restore scripts
via REST, add host prerequisites note for curl/jq, and extend the
Scripts table with run-diagnostics.sh and inject-fault-scenario.sh.
@bburda
feat(turtlebot3): add Scripts API support
37e3abd 
- 5 container-side scripts in auto-discovery layout (nav2-stack entity)
- Enable scripts section in medkit_params.yaml
- Add jq to Dockerfile, COPY container_scripts
- Rewrite host-side scripts as Scripts API wrappers
- New scripts: nav-health-check, reset-navigation
- Update README with Scripts API documentation
@bburda
feat(moveit): add Scripts API support, remove docker exec
f7f939b 
- 5 container-side scripts in auto-discovery layout (moveit-planning entity)
- Enable scripts section in medkit_params.yaml
- Add jq to Dockerfile, COPY container_scripts, remove old symlinks
- Rewrite host-side scripts as Scripts API wrappers (no more docker exec)
- New scripts: arm-self-test, planning-benchmark
- Remove migrated .sh from scripts/, update CMakeLists.txt
- Update README with Scripts API documentation
@bburda
chore: add TODO(#49) for manifest-based scripts migration
c554a89 
Reference follow-up issue #49 in all 3 demo configs.
Once ros2_medkit#303 lands, scripts should move from filesystem
auto-discovery to manifest-defined entries (managed=true).
@bburda
fix: address review findings - error handling, UX, and hardening
59c38c0 
Critical fixes:
- Fix set -e + $? dead code pattern (use 'if !' instead)
- Add executable permission to 4 new host-side scripts
- Add -f flag to curl PUT calls in inject scripts

Important fixes:
- scripts-api.sh: fix 2>&1 -> 2>/dev/null, resilient polling,
  print script stdout on completion, progress dots, recovery hint,
  use $SECONDS for accurate timeout tracking
- Add || true to restore scripts for best-effort error tolerance
- Add EXEC_ID format validation in turtlebot3 container scripts
- Upgrade set -e to set -eu in all container scripts

TODO markers:
- Add TODO(#49) to Dockerfiles for manifest migration
@bburda
docs: address review findings - README consistency and gaps
7af95a8 
- Standardize exec_id placeholder to <exec_id> across all demos
- Add GATEWAY_URL override example to each Scripts API section
- Add curl/jq to turtlebot3 Prerequisites
- Update sensor_diagnostics scripts table note to list all scripts
- Add container_scripts/ to turtlebot3 File Structure section
- Fix moveit stale {"data":{"value":...}} -> {"value":...} format
Copilot AI review requested due to automatic review settings March 22, 2026 16:04
Copilot AI reviewed Mar 22, 2026
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Pull request overview

This PR migrates all demo fault injection/restore workflows to the ros2_medkit gateway Scripts API, moving executable logic into container-discovered scripts and leaving host-side scripts as thin REST wrappers. It also adds new diagnostic/maintenance scripts per demo and updates demo configuration/docs to expose scripts in the gateway/UI.

Changes:

  • Added a shared host-side helper (lib/scripts-api.sh) to start script executions and poll for completion/output.
  • Added container-side script bundles (metadata + bash) for each demo under /var/lib/ros2_medkit/scripts/<entity>/<script>/.
  • Enabled gateway scripts configuration in demo medkit_params.yaml, updated READMEs, and adjusted Dockerfiles to include required deps/copies.

Reviewed changes

Copilot reviewed 62 out of 62 changed files in this pull request and generated 6 comments.

Show a summary per file
File Description
lib/scripts-api.sh Shared host helper to execute/poll Scripts API executions
demos/turtlebot3_integration/restore-normal.sh Wrapper calling restore-normal via Scripts API
demos/turtlebot3_integration/reset-navigation.sh New wrapper calling reset-navigation via Scripts API
demos/turtlebot3_integration/nav-health-check.sh New wrapper calling nav-health-check via Scripts API
demos/turtlebot3_integration/inject-nav-failure.sh Wrapper calling inject-nav-failure via Scripts API
demos/turtlebot3_integration/inject-localization-failure.sh Wrapper calling inject-localization-failure via Scripts API
demos/turtlebot3_integration/container_scripts/nav2-stack/restore-normal/script.bash In-container restore script (cancel goals, reset params, clear faults)
demos/turtlebot3_integration/container_scripts/nav2-stack/restore-normal/metadata.json Scripts API metadata for restore-normal
demos/turtlebot3_integration/container_scripts/nav2-stack/reset-navigation/script.bash In-container reset script (cancel goals + AMCL reset)
demos/turtlebot3_integration/container_scripts/nav2-stack/reset-navigation/metadata.json Scripts API metadata for reset-navigation
demos/turtlebot3_integration/container_scripts/nav2-stack/nav-health-check/script.bash In-container health check for key nav2 apps + fault count
demos/turtlebot3_integration/container_scripts/nav2-stack/nav-health-check/metadata.json Scripts API metadata for nav-health-check
demos/turtlebot3_integration/container_scripts/nav2-stack/inject-nav-failure/script.bash In-container injection: send unreachable nav goal
demos/turtlebot3_integration/container_scripts/nav2-stack/inject-nav-failure/metadata.json Scripts API metadata for inject-nav-failure
demos/turtlebot3_integration/container_scripts/nav2-stack/inject-localization-failure/script.bash In-container injection: AMCL reinit + nav goal
demos/turtlebot3_integration/container_scripts/nav2-stack/inject-localization-failure/metadata.json Scripts API metadata for inject-localization-failure
demos/turtlebot3_integration/config/medkit_params.yaml Enables scripts auto-discovery/config in gateway params
demos/turtlebot3_integration/README.md Documents Scripts API usage + lists available scripts
demos/turtlebot3_integration/Dockerfile Installs jq + copies container scripts into scripts_dir
demos/sensor_diagnostics/run-diagnostics.sh New wrapper calling run-diagnostics via Scripts API
demos/sensor_diagnostics/restore-normal.sh Wrapper calling restore-normal via Scripts API
demos/sensor_diagnostics/inject-noise.sh Wrapper calling inject-noise via Scripts API
demos/sensor_diagnostics/inject-nan.sh Wrapper calling inject-nan via Scripts API
demos/sensor_diagnostics/inject-fault-scenario.sh New wrapper calling composite scenario via Scripts API
demos/sensor_diagnostics/inject-failure.sh Wrapper calling inject-failure via Scripts API
demos/sensor_diagnostics/inject-drift.sh Wrapper calling inject-drift via Scripts API
demos/sensor_diagnostics/container_scripts/compute-unit/run-diagnostics/script.bash In-container diagnostics: hit sensor data endpoints + fault count
demos/sensor_diagnostics/container_scripts/compute-unit/run-diagnostics/metadata.json Scripts API metadata for run-diagnostics
demos/sensor_diagnostics/container_scripts/compute-unit/restore-normal/script.bash In-container restore: reset sensor params + clear faults
demos/sensor_diagnostics/container_scripts/compute-unit/restore-normal/metadata.json Scripts API metadata for restore-normal
demos/sensor_diagnostics/container_scripts/compute-unit/inject-noise/script.bash In-container injection: set lidar/camera noise
demos/sensor_diagnostics/container_scripts/compute-unit/inject-noise/metadata.json Scripts API metadata for inject-noise
demos/sensor_diagnostics/container_scripts/compute-unit/inject-nan/script.bash In-container injection: enable NaN on lidar/imu/gps
demos/sensor_diagnostics/container_scripts/compute-unit/inject-nan/metadata.json Scripts API metadata for inject-nan
demos/sensor_diagnostics/container_scripts/compute-unit/inject-fault-scenario/script.bash In-container composite injection across all sensors
demos/sensor_diagnostics/container_scripts/compute-unit/inject-fault-scenario/metadata.json Scripts API metadata for inject-fault-scenario
demos/sensor_diagnostics/container_scripts/compute-unit/inject-failure/script.bash In-container injection: IMU failure_probability=1.0
demos/sensor_diagnostics/container_scripts/compute-unit/inject-failure/metadata.json Scripts API metadata for inject-failure
demos/sensor_diagnostics/container_scripts/compute-unit/inject-drift/script.bash In-container injection: lidar drift_rate=0.1
demos/sensor_diagnostics/container_scripts/compute-unit/inject-drift/metadata.json Scripts API metadata for inject-drift
demos/sensor_diagnostics/config/medkit_params.yaml Enables scripts auto-discovery/config in gateway params
demos/sensor_diagnostics/README.md Documents Scripts API usage + new diagnostic scripts
demos/sensor_diagnostics/Dockerfile Copies container scripts into scripts_dir
demos/moveit_pick_place/restore-normal.sh Wrapper calling restore-normal via Scripts API
demos/moveit_pick_place/planning-benchmark.sh New wrapper calling planning-benchmark via Scripts API
demos/moveit_pick_place/inject-planning-failure.sh Wrapper calling inject-planning-failure via Scripts API
demos/moveit_pick_place/inject-collision.sh Wrapper calling inject-collision via Scripts API
demos/moveit_pick_place/arm-self-test.sh New wrapper calling arm-self-test via Scripts API
demos/moveit_pick_place/container_scripts/moveit-planning/restore-normal/script.bash Updates in-container restore script for scripts execution
demos/moveit_pick_place/container_scripts/moveit-planning/restore-normal/metadata.json Scripts API metadata for restore-normal
demos/moveit_pick_place/container_scripts/moveit-planning/planning-benchmark/script.bash New in-container benchmark (checks key apps/ops)
demos/moveit_pick_place/container_scripts/moveit-planning/planning-benchmark/metadata.json Scripts API metadata for planning-benchmark
demos/moveit_pick_place/container_scripts/moveit-planning/inject-planning-failure/script.bash Updates in-container wall injection script for Scripts API
demos/moveit_pick_place/container_scripts/moveit-planning/inject-planning-failure/metadata.json Scripts API metadata for inject-planning-failure
demos/moveit_pick_place/container_scripts/moveit-planning/inject-collision/script.bash Updates in-container collision injection script for Scripts API
demos/moveit_pick_place/container_scripts/moveit-planning/inject-collision/metadata.json Scripts API metadata for inject-collision
demos/moveit_pick_place/container_scripts/moveit-planning/arm-self-test/script.bash New in-container self-test (checks key apps + fault count)
demos/moveit_pick_place/container_scripts/moveit-planning/arm-self-test/metadata.json Scripts API metadata for arm-self-test
demos/moveit_pick_place/config/medkit_params.yaml Enables scripts auto-discovery/config in gateway params
demos/moveit_pick_place/README.md Documents Scripts API usage and new script set
demos/moveit_pick_place/Dockerfile Installs jq + copies container scripts into scripts_dir; removes old PATH symlink setup
demos/moveit_pick_place/CMakeLists.txt Stops installing old inject/restore scripts as ROS runtime programs

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@bburda bburda self-assigned this Mar 22, 2026
@bburda bburda requested a review from mfaferek93 March 22, 2026 16:45
@bburda
fix: resolve shellcheck warnings (SC2034, SC1091)
c766a90 
- Replace unused RESPONSE variable captures with direct curl > /dev/null
  (arm-self-test, planning-benchmark, run-diagnostics)
- Add shellcheck source directive to all host-side wrappers
mfaferek93
mfaferek93 reviewed Mar 22, 2026
View reviewed changes
bburda added 2 commits March 22, 2026 18:04
@bburda
fix: shellcheck SC1091 - disable for sourced lib path
db0e325
@bburda
fix: address PR review feedback (mfaferek93 + Copilot)
de39b82 
- Inject scripts: handle partial failures with per-call error tracking
  instead of aborting on first failure (inject-nan, inject-noise,
  inject-fault-scenario)
- Add -sf flag to turtlebot3 POST calls (inject-localization-failure,
  reset-navigation) so HTTP errors are caught
- Add exec_id format validation to lib/scripts-api.sh
- Use proper if/else instead of && || to satisfy shellcheck SC2015
@mfaferek93 mfaferek93 self-requested a review March 22, 2026 18:01
@bburda bburda merged commit 12cc3e5 into main Mar 22, 2026
4 checks passed
@bburda bburda deleted the feat/42-scripts-api-demo branch March 22, 2026 18:03
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Add diagnostic scripts showcasing Scripts API

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@bburda @mfaferek93