[#4] Fix Invalid setup of Nav2

demos/turtlebot3_integration/Dockerfile

@@ -40,12 +40,13 @@ RUN apt-get update && apt-get install -y \
     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
+# Clone ros2_medkit from GitHub
 WORKDIR ${COLCON_WS}/src
-RUN git clone https://github.com/selfpatch/ros2_medkit.git
+RUN git clone --depth 1 https://github.com/selfpatch/ros2_medkit.git && \
+    mv ros2_medkit/src/ros2_medkit_gateway . && \
+    rm -rf ros2_medkit
 
-# Copy demo package
+# Copy demo package from local context (this repo)
 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/

demos/turtlebot3_integration/README.md

@@ -148,7 +148,18 @@ curl -X POST http://localhost:8080/api/v1/topics/publish ...
 
 ## What You'll See
 
-When TurtleBot3 simulation starts with Nav2, ros2_medkit will discover nodes such as:
+When TurtleBot3 simulation starts with Nav2, ros2_medkit will discover nodes organized into **areas** based on their ROS 2 namespaces:
+
+### Areas (Namespaces)
+
+| Area | Namespace | Description |
+|------|-----------|-------------|
+| `root` | `/` | TurtleBot3, Nav2, and Gazebo nodes |
+| `diagnostics` | `/diagnostics` | ros2_medkit gateway |
+
+### Components
+
+**Root** (`/`) - Main robot system:
 
 - `turtlebot3_node` - Main robot interface
 - `robot_state_publisher` - TF tree publisher
@@ -157,9 +168,15 @@ When TurtleBot3 simulation starts with Nav2, ros2_medkit will discover nodes suc
 - `bt_navigator` - Behavior Tree Navigator
 - `controller_server` - Path following controller
 - `planner_server` - Global path planner
-- Various sensor and lifecycle nodes
+- `velocity_smoother` - Velocity command smoother
+- Various lifecycle and manager nodes
+
+**Diagnostics** (`/diagnostics`):
+
+- `ros2_medkit_gateway` - REST API gateway
 
-These appear as **components** in the ros2_medkit REST API, organized into **areas** based on their ROS 2 namespaces.
+This demonstrates ros2_medkit's ability to discover ROS 2 nodes and organize them into areas.
+For a more hierarchical demo with multiple areas, see the [ros2_medkit demo nodes](https://github.com/selfpatch/ros2_medkit/tree/main/src/ros2_medkit_gateway#demo-nodes) which use namespaces like `/powertrain`, `/chassis`, and `/body`.
 
 ## Architecture
 

demos/turtlebot3_integration/config/medkit_params.yaml

@@ -1,11 +1,20 @@
 # 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
+# Node runs under /diagnostics namespace, so we need to match that here
+diagnostics:
+  ros2_medkit_gateway:
+    ros__parameters:
+      server:
+        # Bind to all interfaces for Docker networking
+        host: "0.0.0.0"
+        port: 8080
+
+      refresh_interval_ms: 2000
+
+      cors:
+        allowed_origins: ["*"]
+        allowed_methods: ["GET", "PUT", "POST", "OPTIONS"]
+        allowed_headers: ["Content-Type", "Accept"]
+        allow_credentials: false
+        max_age_seconds: 86400
+
+      max_parallel_topic_samples: 10

demos/turtlebot3_integration/config/nav2_params.yaml

@@ -1,6 +1,22 @@
 # Nav2 parameters for TurtleBot3 + ros2_medkit demo
 # Based on default nav2_bringup parameters for TurtleBot3 burger
 
+# Lifecycle manager configuration - exclude docking_server which we don't use
+lifecycle_manager_navigation:
+  ros__parameters:
+    use_sim_time: True
+    autostart: True
+    node_names:
+      - controller_server
+      - smoother_server
+      - planner_server
+      - behavior_server
+      - bt_navigator
+      - waypoint_follower
+      - velocity_smoother
+      - collision_monitor
+    # Note: docking_server and route_server removed - not configured for this demo
+
 amcl:
   ros__parameters:
     use_sim_time: True
@@ -60,65 +76,15 @@ bt_navigator:
     action_server_result_timeout: 900.0
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:
-      plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
+      plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
     navigate_through_poses:
-      plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
-    plugin_lib_names:
-      - nav2_compute_path_to_pose_action_bt_node
-      - nav2_compute_path_through_poses_action_bt_node
-      - nav2_smooth_path_action_bt_node
-      - nav2_follow_path_action_bt_node
-      - nav2_spin_action_bt_node
-      - nav2_wait_action_bt_node
-      - nav2_assisted_teleop_action_bt_node
-      - nav2_back_up_action_bt_node
-      - nav2_drive_on_heading_bt_node
-      - nav2_clear_costmap_service_bt_node
-      - nav2_is_stuck_condition_bt_node
-      - nav2_goal_reached_condition_bt_node
-      - nav2_goal_updated_condition_bt_node
-      - nav2_globally_updated_goal_condition_bt_node
-      - nav2_is_path_valid_condition_bt_node
-      - nav2_are_error_codes_active_condition_bt_node
-      - nav2_would_a_controller_recovery_help_condition_bt_node
-      - nav2_would_a_planner_recovery_help_condition_bt_node
-      - nav2_would_a_smoother_recovery_help_condition_bt_node
-      - nav2_initial_pose_received_condition_bt_node
-      - nav2_reinitialize_global_localization_service_bt_node
-      - nav2_rate_controller_bt_node
-      - nav2_distance_controller_bt_node
-      - nav2_speed_controller_bt_node
-      - nav2_truncate_path_action_bt_node
-      - nav2_truncate_path_local_action_bt_node
-      - nav2_goal_updater_node_bt_node
-      - nav2_recovery_node_bt_node
-      - nav2_pipeline_sequence_bt_node
-      - nav2_round_robin_node_bt_node
-      - nav2_transform_available_condition_bt_node
-      - nav2_time_expired_condition_bt_node
-      - nav2_path_expiring_timer_condition
-      - nav2_distance_traveled_condition_bt_node
-      - nav2_single_trigger_bt_node
-      - nav2_goal_updated_controller_bt_node
-      - nav2_is_battery_low_condition_bt_node
-      - nav2_navigate_to_pose_action_bt_node
-      - nav2_navigate_through_poses_action_bt_node
-      - nav2_remove_passed_goals_action_bt_node
-      - nav2_planner_selector_bt_node
-      - nav2_controller_selector_bt_node
-      - nav2_goal_checker_selector_bt_node
-      - nav2_controller_cancel_bt_node
-      - nav2_path_longer_on_approach_bt_node
-      - nav2_wait_cancel_bt_node
-      - nav2_spin_cancel_bt_node
-      - nav2_back_up_cancel_bt_node
-      - nav2_assisted_teleop_cancel_bt_node
-      - nav2_drive_on_heading_cancel_bt_node
-      - nav2_is_battery_charging_condition_bt_node
+      plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
+    # Note: plugin_lib_names is no longer needed in Jazzy - plugins are auto-loaded
 
 controller_server:
   ros__parameters:
     use_sim_time: True
+    enable_stamped_cmd_vel: True
     controller_frequency: 20.0
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5
@@ -281,22 +247,23 @@ smoother_server:
 
 behavior_server:
   ros__parameters:
+    enable_stamped_cmd_vel: True
     local_costmap_topic: local_costmap/costmap_raw
     global_costmap_topic: global_costmap/costmap_raw
     local_footprint_topic: local_costmap/published_footprint
     global_footprint_topic: global_costmap/published_footprint
     cycle_frequency: 10.0
     behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
     spin:
-      plugin: "nav2_behaviors/Spin"
+      plugin: "nav2_behaviors::Spin"
     backup:
-      plugin: "nav2_behaviors/BackUp"
+      plugin: "nav2_behaviors::BackUp"
     drive_on_heading:
-      plugin: "nav2_behaviors/DriveOnHeading"
+      plugin: "nav2_behaviors::DriveOnHeading"
     wait:
-      plugin: "nav2_behaviors/Wait"
+      plugin: "nav2_behaviors::Wait"
     assisted_teleop:
-      plugin: "nav2_behaviors/AssistedTeleop"
+      plugin: "nav2_behaviors::AssistedTeleop"
     local_frame: odom
     global_frame: map
     robot_base_frame: base_link
@@ -322,6 +289,7 @@ waypoint_follower:
 velocity_smoother:
   ros__parameters:
     use_sim_time: True
+    enable_stamped_cmd_vel: True
     smoothing_frequency: 20.0
     scale_velocities: False
     feedback: "OPEN_LOOP"
@@ -337,6 +305,7 @@ velocity_smoother:
 collision_monitor:
   ros__parameters:
     use_sim_time: True
+    enable_stamped_cmd_vel: True
     base_frame_id: "base_link"
     odom_frame_id: "odom"
     cmd_vel_in_topic: "cmd_vel_smoothed"
@@ -363,3 +332,22 @@ collision_monitor:
       min_height: 0.15
       max_height: 2.0
       enabled: True
+
+# Docking server - minimal config to satisfy lifecycle manager
+# We don't actually use docking in this demo
+docking_server:
+  ros__parameters:
+    use_sim_time: True
+    enable_stamped_cmd_vel: True
+    dock_plugins: ["simple_charging_dock"]
+    simple_charging_dock:
+      plugin: "opennav_docking::SimpleChargingDock"
+      use_external_detection_pose: false
+      docking_threshold: 0.02
+      staging_x_offset: -0.5
+      staging_yaw_offset: 0.0
+
+# Route server - minimal config
+route_server:
+  ros__parameters:
+    use_sim_time: True

demos/turtlebot3_integration/docker-compose.yml

@@ -58,8 +58,6 @@ services:
                ros2 launch turtlebot3_medkit_demo demo.launch.py"
 
   sovd-web-ui:
-    # TODO: Replace with Docker Hub image once sovd_web_ui is published
-    # For now, we clone and build from GitHub
     build:
       context: https://github.com/selfpatch/sovd_web_ui.git
       dockerfile: Dockerfile

demos/turtlebot3_integration/launch/demo.launch.py

@@ -1,70 +1,84 @@
-"""Launch TurtleBot3 simulation with Nav2 and ros2_medkit gateway for discovery demo."""
+"""Launch TurtleBot3 simulation with Nav2 and ros2_medkit gateway for discovery demo.
+
+This launch file demonstrates ros2_medkit's hierarchical discovery by:
+  - Running TurtleBot3 + Nav2 (in root namespace)
+  - Adding ros2_medkit gateway under /diagnostics namespace
+  - Showing how nodes are organized into Areas based on namespaces
+"""
 
 import os
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, SetEnvironmentVariable
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description():
     # Get package directories
-    turtlebot3_gazebo_dir = get_package_share_directory('turtlebot3_gazebo')
-    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
-    demo_pkg_dir = get_package_share_directory('turtlebot3_medkit_demo')
+    turtlebot3_gazebo_dir = get_package_share_directory("turtlebot3_gazebo")
+    nav2_bringup_dir = get_package_share_directory("nav2_bringup")
+    demo_pkg_dir = get_package_share_directory("turtlebot3_medkit_demo")
 
     # Path to config files from installed package
-    medkit_params_file = os.path.join(demo_pkg_dir, 'config', 'medkit_params.yaml')
-    nav2_params_file = os.path.join(demo_pkg_dir, 'config', 'nav2_params.yaml')
-    map_file = os.path.join(demo_pkg_dir, 'config', 'turtlebot3_world.yaml')
+    medkit_params_file = os.path.join(demo_pkg_dir, "config", "medkit_params.yaml")
+    nav2_params_file = os.path.join(demo_pkg_dir, "config", "nav2_params.yaml")
+    map_file = os.path.join(demo_pkg_dir, "config", "turtlebot3_world.yaml")
 
     # Launch configuration variables
-    use_sim_time = LaunchConfiguration('use_sim_time', default='True')
-
-    return LaunchDescription([
-        # Declare launch arguments
-        DeclareLaunchArgument(
-            'use_sim_time',
-            default_value='True',
-            description='Use simulation (Gazebo) clock if true'
-        ),
+    use_sim_time = LaunchConfiguration("use_sim_time", default="True")
 
-        # Set TurtleBot3 model (can be overridden by environment variable)
-        SetEnvironmentVariable(
-            name='TURTLEBOT3_MODEL',
-            value=os.environ.get('TURTLEBOT3_MODEL', 'burger')
-        ),
-
-        # Launch TurtleBot3 Gazebo simulation (turtlebot3_world)
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(turtlebot3_gazebo_dir, 'launch', 'turtlebot3_world.launch.py')
+    return LaunchDescription(
+        [
+            # Declare launch arguments
+            DeclareLaunchArgument(
+                "use_sim_time",
+                default_value="True",
+                description="Use simulation (Gazebo) clock if true",
             ),
-            launch_arguments={'use_sim_time': use_sim_time}.items()
-        ),
-
-        # Launch Nav2 navigation stack
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')
+            # Set TurtleBot3 model (can be overridden by environment variable)
+            SetEnvironmentVariable(
+                name="TURTLEBOT3_MODEL",
+                value=os.environ.get("TURTLEBOT3_MODEL", "burger"),
             ),
-            launch_arguments={
-                'map': map_file,
-                'params_file': nav2_params_file,
-                'use_sim_time': use_sim_time,
-                'autostart': 'True',
-            }.items()
-        ),
-
-        # Launch ros2_medkit gateway
-        Node(
-            package='ros2_medkit_gateway',
-            executable='gateway_node',
-            name='ros2_medkit_gateway',
-            output='screen',
-            parameters=[medkit_params_file, {'use_sim_time': use_sim_time}],
-        ),
-    ])
+            # Launch TurtleBot3 Gazebo simulation (turtlebot3_world)
+            # Runs in root namespace to publish standard topics (/scan, /odom, /cmd_vel)
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(
+                        turtlebot3_gazebo_dir, "launch", "turtlebot3_world.launch.py"
+                    )
+                ),
+                launch_arguments={"use_sim_time": use_sim_time}.items(),
+            ),
+            # Launch Nav2 navigation stack
+            # Runs in root namespace to subscribe to robot topics
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(nav2_bringup_dir, "launch", "bringup_launch.py")
+                ),
+                launch_arguments={
+                    "map": map_file,
+                    "params_file": nav2_params_file,
+                    "use_sim_time": use_sim_time,
+                    "autostart": "True",
+                }.items(),
+            ),
+            # Launch ros2_medkit gateway under /diagnostics namespace
+            # This demonstrates namespace-based Area organization in discovery
+            Node(
+                package="ros2_medkit_gateway",
+                executable="gateway_node",
+                name="ros2_medkit_gateway",
+                namespace="diagnostics",
+                output="screen",
+                parameters=[medkit_params_file, {"use_sim_time": use_sim_time}],
+            ),
+        ]
+    )