Add basic turtlebot demo

.github/workflows/ci.yml

@@ -12,3 +12,34 @@ jobs:
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
+
+      - name: Check for trailing whitespace
+        run: |
+          ! git grep -I --line-number --perl-regexp '\s+$' -- \
+            '*.md' '*.py' '*.yaml' '*.yml' || \
+          (echo "Found trailing whitespace in the files above" && exit 1)
+
+      - name: Check shell scripts with shellcheck
+        run: |
+          sudo apt-get update && sudo apt-get install -y shellcheck
+          find . \( -name "*.sh" -o -name "*.bash" \) -type f | xargs shellcheck
+
+      - name: Validate YAML files
+        run: |
+          sudo apt-get update && sudo apt-get install -y yamllint
+          YAMLLINT_CONFIG="{extends: relaxed, rules: {line-length: {max: 120}}}"
+          find . \( -name "*.yaml" -o -name "*.yml" \) -type f | xargs yamllint -d "$YAMLLINT_CONFIG"
+
+  docker-build:
+    runs-on: ubuntu-24.04
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Build TurtleBot3 demo image
+        run: |
+          cd demos/turtlebot3_integration
+          docker build -t turtlebot3-medkit-demo:test -f Dockerfile .

demos/turtlebot3_integration/CMakeLists.txt

@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.8)
+project(turtlebot3_medkit_demo)
+
+find_package(ament_cmake REQUIRED)
+
+# Install launch files
+install(DIRECTORY launch/
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
+# Install config files
+install(DIRECTORY config/
+  DESTINATION share/${PROJECT_NAME}/config
+)
+
+ament_package()

demos/turtlebot3_integration/Dockerfile

@@ -0,0 +1,68 @@
+# TurtleBot3 + ros2_medkit Discovery Demo with Nav2 Navigation
+# Full desktop image with Gazebo GUI support
+
+FROM osrf/ros:jazzy-desktop
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV ROS_DISTRO=jazzy
+ENV TURTLEBOT3_MODEL=burger
+ENV GAZEBO_MODEL_PATH=/opt/ros/jazzy/share/turtlebot3_gazebo/models
+ENV COLCON_WS=/root/demo_ws
+
+# Install TurtleBot3, Nav2, and build dependencies
+RUN apt-get update && apt-get install -y \
+    ros-jazzy-turtlebot3-gazebo \
+    ros-jazzy-turtlebot3-msgs \
+    ros-jazzy-turtlebot3-description \
+    ros-jazzy-turtlebot3-navigation2 \
+    ros-jazzy-nav2-bringup \
+    ros-jazzy-nav2-bt-navigator \
+    ros-jazzy-nav2-controller \
+    ros-jazzy-nav2-planner \
+    ros-jazzy-nav2-behaviors \
+    ros-jazzy-nav2-costmap-2d \
+    ros-jazzy-nav2-lifecycle-manager \
+    ros-jazzy-nav2-map-server \
+    ros-jazzy-nav2-amcl \
+    ros-jazzy-ament-lint-auto \
+    ros-jazzy-ament-lint-common \
+    ros-jazzy-ament-clang-format \
+    ros-jazzy-ament-cmake-clang-format \
+    ros-jazzy-ament-cmake-clang-tidy \
+    ros-jazzy-ament-cmake-gtest \
+    ros-jazzy-ament-cmake-pytest \
+    ros-jazzy-launch-testing-ament-cmake \
+    python3-colcon-common-extensions \
+    python3-requests \
+    nlohmann-json3-dev \
+    libcpp-httplib-dev \
+    git \
+    curl \
+    && rm -rf /var/lib/apt/lists/*
+
+# Create workspace and clone ros2_medkit
+# TODO: Replace with proper ROS 2 package dependency once ros2_medkit is released
+WORKDIR ${COLCON_WS}/src
+RUN git clone https://github.com/selfpatch/ros2_medkit.git
+
+# Copy demo package
+COPY package.xml CMakeLists.txt ${COLCON_WS}/src/turtlebot3_medkit_demo/
+COPY config/ ${COLCON_WS}/src/turtlebot3_medkit_demo/config/
+COPY launch/ ${COLCON_WS}/src/turtlebot3_medkit_demo/launch/
+
+# Build ros2_medkit and demo package
+WORKDIR ${COLCON_WS}
+RUN bash -c "source /opt/ros/jazzy/setup.bash && \
+    rosdep update && \
+    rosdep install --from-paths src --ignore-src -r -y && \
+    colcon build --symlink-install"
+
+# Setup environment
+RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \
+    echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc && \
+    echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc && \
+    echo "export GAZEBO_MODEL_PATH=/opt/ros/jazzy/share/turtlebot3_gazebo/models" >> ~/.bashrc
+
+EXPOSE 8080
+
+CMD ["bash"]

demos/turtlebot3_integration/README.md

@@ -1,40 +1,241 @@
-# TurtleBot3 Integration Demo
+# TurtleBot3 Integration Demo with Nav2 Navigation
 
-This demo shows how to integrate ros2_medkit with TurtleBot3 and Nav2 to provide
-modern diagnostics for a mobile robot navigation system.
+This demo shows how to integrate ros2_medkit with TurtleBot3 and Nav2 navigation stack
+to provide modern diagnostics and control for a mobile robot system via REST API.
 
 ## Status
 
-🚧 **Work in Progress**
+✅ **Demo Ready** - Full navigation demo with Web UI
 
 ## Overview
 
-This demo will demonstrate:
+This demo demonstrates:
 
-- Discovering TurtleBot3 nodes through ros2_medkit REST API
-- Organizing navigation components into diagnostic areas
-- Reading sensor data and navigation state via HTTP
-- Monitoring robot health during autonomous navigation
+- Launching TurtleBot3 simulation in Gazebo with turtlebot3_world
+- Running Nav2 navigation stack (AMCL, planner, controller)
+- Running ros2_medkit gateway alongside the robot
+- Discovering TurtleBot3 nodes through REST API
+- Querying and publishing to ROS2 topics via HTTP
+- **NEW:** Controlling the robot via sovd_web_ui
 
 ## Prerequisites
 
-- ROS 2 Jazzy (Ubuntu 24.04)
-- [ros2_medkit](https://github.com/selfpatch/ros2_medkit)
-- TurtleBot3 packages
-- Nav2 navigation stack
+- Docker and docker-compose
+- X11 display server (Linux with GUI, or XQuartz on macOS)
+- (Optional) NVIDIA GPU + [nvidia-container-toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html)
 
-## Installation
+## Quick Start
 
-*Coming soon*
+### 1. Start the ROS2 Backend
 
-## Usage
+```bash
+cd demos/turtlebot3_integration
+./run-demo.sh
+```
 
-*Coming soon*
+That's it! The script will:
+
+1. Build the Docker images (first run takes ~5-10 min, downloads ~4GB)
+2. Setup X11 forwarding for Gazebo GUI
+3. Launch TurtleBot3 simulation + Nav2 + ros2_medkit gateway
+4. Launch sovd_web_ui at <http://localhost:3000>
+
+### 2. Access the Web UI
+
+The Web UI is automatically started by docker-compose and available at <http://localhost:3000>.
+
+Connect to the gateway using `http://localhost:8080/api/v1` in the connection dialog.
+
+**Note:** The first build will take longer as it clones and builds sovd_web_ui from GitHub.
+
+### With NVIDIA GPU
+
+For hardware-accelerated Gazebo rendering with NVIDIA GPU:
+
+```bash
+./run-demo.sh --nvidia
+```
+
+**Requirements:**
+
+- NVIDIA GPU with recent drivers
+- [nvidia-container-toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html) installed
+
+You can also use Docker Compose directly:
+
+```bash
+docker compose --profile nvidia up --build
+```
+
+## Controlling the Robot
+
+### Via Web UI
+
+1. Connect to the gateway in sovd_web_ui
+2. In the "ROS2 Topics" panel on the right, select `/cmd_vel`
+3. Enter velocity command JSON:
+
+   ```json
+   {"linear": {"x": 0.2}, "angular": {"z": 0.0}}
+   ```
+
+4. Click "Send" - the robot will move!
+
+### Via Command Line
+
+```bash
+# Send velocity command (moves robot forward)
+curl -X POST http://localhost:8080/api/v1/topics/publish \
+  -H "Content-Type: application/json" \
+  -d '{
+    "topic": "/cmd_vel",
+    "type": "geometry_msgs/msg/Twist",
+    "data": {"linear": {"x": 0.2, "y": 0.0, "z": 0.0}, "angular": {"x": 0.0, "y": 0.0, "z": 0.0}}
+  }'
+
+# Stop the robot
+curl -X POST http://localhost:8080/api/v1/topics/publish \
+  -H "Content-Type: application/json" \
+  -d '{
+    "topic": "/cmd_vel",
+    "type": "geometry_msgs/msg/Twist",
+    "data": {"linear": {"x": 0.0}, "angular": {"z": 0.0}}
+  }'
+```
+
+### Via ROS2 CLI (inside container)
+
+```bash
+# Send navigation goal
+ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose \
+  "{pose: {header: {frame_id: 'map'}, pose: {position: {x: 2.0, y: 0.5, z: 0.0}, orientation: {w: 1.0}}}}"
+
+# Manual teleop
+ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \
+  "{linear: {x: 0.2}, angular: {z: 0.0}}" --once
+```
+
+## REST API Endpoints
+
+### Discovery
+
+```bash
+# Check gateway health
+curl http://localhost:8080/api/v1/health
+
+# List discovered areas
+curl http://localhost:8080/api/v1/areas
+
+# List all discovered components (nodes)
+curl http://localhost:8080/api/v1/components
+```
+
+### Topics
+
+```bash
+# List all topics
+curl http://localhost:8080/api/v1/topics
+
+# Get topic details (URL-encode topic name: / -> %2F)
+curl http://localhost:8080/api/v1/topics/%2Fcmd_vel
+
+# Get topic without sample
+curl "http://localhost:8080/api/v1/topics/%2Fcmd_vel?sample=false"
+
+# Publish to topic (see examples above)
+curl -X POST http://localhost:8080/api/v1/topics/publish ...
+```
 
 ## What You'll See
 
-*Coming soon*
+When TurtleBot3 simulation starts with Nav2, ros2_medkit will discover nodes such as:
+
+- `turtlebot3_node` - Main robot interface
+- `robot_state_publisher` - TF tree publisher
+- `gazebo` - Simulation engine
+- `amcl` - Adaptive Monte Carlo Localization
+- `bt_navigator` - Behavior Tree Navigator
+- `controller_server` - Path following controller
+- `planner_server` - Global path planner
+- Various sensor and lifecycle nodes
+
+These appear as **components** in the ros2_medkit REST API, organized into **areas** based on their ROS 2 namespaces.
 
 ## Architecture
 
-*Coming soon*
+```text
+┌─────────────────────────────────────────────────────────────────────┐
+│                       Docker Container                               │
+│  ┌──────────────────────────────────────────────────────────────┐   │
+│  │                   Gazebo Simulation                            │   │
+│  │  ┌─────────────┐  ┌──────────────┐  ┌────────┐ ┌───────────┐  │   │
+│  │  │ TurtleBot3  │  │ robot_state  │  │ LIDAR  │ │   Nav2    │  │   │
+│  │  │    Node     │  │  publisher   │  │ sensor │ │ (AMCL,    │  │   │
+│  │  └──────┬──────┘  └──────┬───────┘  └───┬────┘ │ Planner,  │  │   │
+│  │         │                │              │      │ Controller│  │   │
+│  │         └────────────────┼──────────────┘      └─────┬─────┘  │   │
+│  │                    ROS 2 Topics ◄────────────────────┘        │   │
+│  └──────────────────────────┼────────────────────────────────────┘   │
+│                             │                                        │
+│               ┌─────────────┴─────────────┐                         │
+│               │   ros2_medkit Gateway     │                         │
+│               │   (REST Server :8080)     │                         │
+│               └─────────────┬─────────────┘                         │
+└─────────────────────────────┼────────────────────────────────────────┘
+                              │
+                       HTTP REST API
+                              │
+         ┌────────────────────┼────────────────────┐
+         ▼                    ▼                    ▼
+   sovd_web_ui          curl/browser        External tools
+  (localhost:3000)
+```
+
+## File Structure
+
+```text
+demos/turtlebot3_integration/
+├── Dockerfile                  # ROS 2 Jazzy + TurtleBot3 + Nav2 + ros2_medkit
+├── docker-compose.yml          # Docker Compose (CPU & GPU via profiles)
+├── run-demo.sh                 # One-click demo launcher
+├── config/
+│   ├── medkit_params.yaml      # ros2_medkit gateway config
+│   ├── nav2_params.yaml        # Nav2 navigation parameters
+│   └── turtlebot3_world.yaml   # Map configuration
+└── launch/
+    └── demo.launch.py          # ROS 2 launch file
+```
+
+## Manual Setup (Alternative)
+
+If you prefer not to use Docker:
+
+1. Install ROS 2 Jazzy on Ubuntu 24.04
+2. Install TurtleBot3: `sudo apt install ros-jazzy-turtlebot3-gazebo`
+3. Install Nav2: `sudo apt install ros-jazzy-nav2-bringup`
+4. Build [ros2_medkit](https://github.com/selfpatch/ros2_medkit) from source
+5. Set environment:
+
+   ```bash
+   export TURTLEBOT3_MODEL=burger
+   export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/jazzy/share/turtlebot3_gazebo/models
+   ```
+
+6. Run: `ros2 launch launch/demo.launch.py`
+
+## Troubleshooting
+
+### Gazebo window doesn't appear
+
+- Ensure X11 forwarding is set up: `xhost +local:docker`
+- Check DISPLAY environment variable
+
+### Nav2 doesn't start properly
+
+- Wait for AMCL to localize (give an initial pose in RViz or via CLI)
+- Check lifecycle states with `ros2 lifecycle list`
+
+### Robot doesn't move with /cmd_vel
+
+- Make sure Nav2's velocity smoother isn't overriding commands
+- Check if collision monitor is blocking movement

demos/turtlebot3_integration/config/medkit_params.yaml

@@ -0,0 +1,11 @@
+# ros2_medkit gateway configuration for TurtleBot3 demo
+ros2_medkit_gateway:
+  ros__parameters:
+    server.host: "0.0.0.0"
+    server.port: 8080
+    refresh_interval_ms: 2000
+    cors.allowed_origins: ["*"]
+    cors.allowed_methods: ["GET", "PUT", "POST", "OPTIONS"]
+    cors.allowed_headers: ["Content-Type", "Accept"]
+    cors.allow_credentials: false
+    cors.max_age_seconds: 86400