feat(demos): manymove_industrial - BT manipulator + medkit gateway demo#59
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mfaferek93 wants to merge 9 commits into
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feat(demos): manymove_industrial - BT manipulator + medkit gateway demo#59mfaferek93 wants to merge 9 commits into
mfaferek93 wants to merge 9 commits into
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manymove BT pipeline + ros2_medkit fault reporting in a Docker compose
demo. v1 ships:
- Dockerfile pulling ros-jazzy-ros2-medkit-* debs and the selfpatch
manymove fork (feat/medkit-integration).
- SOVD manifest covering manymove BT client, move_group and the medkit
fault management stack.
- Three container scripts (arm-self-test, inject-collision,
restore-normal) that exercise the fault pipeline via
/fault_manager/report_fault.
- run-demo.sh / stop-demo.sh / check-demo.sh + a CI smoke test under
tests/smoke_test_manymove_industrial.sh.
OpenPLC + OPC UA bridge for the tier-2 PLC correlation narrative are
deferred to v1.5; see demos/manymove_industrial/README.md "TODO".
Mirrors the moveit_pick_place pattern: docker compose up the CI profile, run tests/smoke_test_manymove_industrial.sh, dump container logs on failure, tear down on always.
…docker style The image now reproduces manymove_bringup/docker (manymove + Groot + xarm_ros2 from source) and layers on the medkit fault_manager / gateway / Web UI plus our SOVD manifest and container scripts. The MANYMOVE_REPO build arg defaults to the selfpatch fork on feat/medkit-integration. demo.launch.py now includes the upstream xarm7_movegroup_fake_cpp_trees.launch.py verbatim, so the BT pipeline matches the project's own demos and the manymove-instrumented BT nodes emit MANYMOVE_* fault codes organically when the BT trips. Inject scripts moved from synthesising reports on /fault_manager/report_fault to flipping BT blackboard flags via the HMI update_blackboard service (real BT triggers); inject-soft-fault adds a thin collision wall to drive RETRY_ATTEMPT bursts through LocalFilter. SOVD manifest expanded with the real xArm7 FQNs (ufactory_driver, action_server_node, object_manager_node, hmi_service_node, move_group, bt_client_xarm7). Manymove HMI Qt + Groot ride along via X11 forwarding on the cpu profile.
…rvice path
Two fixes after running the rebuilt image locally:
- demo.launch.py: ros2_medkit_gateway needs namespace="diagnostics" so
medkit_params.yaml's "diagnostics:" section resolves and the gateway
binds 0.0.0.0:8080 instead of localhost-only. Without this, host
curl to /api/v1/health returned RST-on-recv even though the gateway
was alive inside the container.
- inject-*/restore-normal scripts: HMI service is exposed at
/update_blackboard, not /hmi_service_node/update_blackboard.
update_blackboard expects every value as a quoted string (the .srv
is string[] for value_data), so e.g. "true" not true. Also dropped
"set -u" which trips on ROS 2 setup.bash unbound vars.
The BT XML wires MoveManipulatorAction's collision_detected input port to the same blackboard key inject-collision flips, but the timing of when MoveManipulator's onStart reads the port relative to the BT loop means we sometimes observe the retry-exhausted path instead of the collision branch. Both prove the round-trip works. Bumped the post-inject sleep to 6 s so the BT has room to tick the retry cycle to completion before we poll the fault list.
The Web UI runs on :3000 and fetches the gateway on :8080; without CORS allow-origin the browser refuses cross-origin requests with "Failed to fetch". Mirror the cors block from moveit_pick_place's medkit_params.yaml: allow any origin, all standard methods, and the two headers the Web UI sends. Verified locally with `curl -I -H 'Origin: http://localhost:3000'` - gateway now returns Access-Control-Allow-Origin reflecting the origin.
…napshot capture Adds default_topics for freeze-frame snapshots and explicit rosbag topics / format / size limits so the fault-attached MCAP actually contains BT and tf data instead of an empty bag.
… shellcheck source directives CI gate hit two issues: 1. Smoke test POST /components/manymove-planning/scripts/<x>/executions returned 404 because the manifest only declared manymove-bt; the container_scripts directory name (manymove-planning) had no matching component. Added a manymove-planning component entry mirroring the moveit_pick_place demo pattern (moveit-planning component + same-named container_scripts dir). 2. shellcheck SC1091 on every 'source /opt/...setup.bash' line because those files do not exist on the host runner. Added 'shellcheck source=/dev/null' directives, matching the multi_ecu_aggregation convention.
…BT-motion dependency
The previous assertion ('MANYMOVE_PLANNER_* fault appears after
inject-collision') is brittle in CI: setting the BT blackboard
'collision_detected' flag only triggers a fault when
MoveManipulatorAction::onStart actually ticks. The CI fake-hardware launch
does not auto-issue motion goals, so the BT remains idle and the flag is
read by nothing.
Replace with:
- Loop over inject-collision + restore-normal endpoints to prove the
manifest <-> container_scripts component-id binding (the previous
manymove-planning 404 root cause).
- arm-self-test script execution + poll for MANYMOVE_SELFTEST fault: this
exercises the medkit REST -> FaultManager pipeline directly via
/fault_manager/report_fault, with no BT trajectory state dependency.
Real BT-emitted fault verification stays the responsibility of the
record_full.sh demo runs, which do start moves and observe the full
round-trip.
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Summary
New demo
demos/manymove_industrial/: brings up amanymoveBT manipulator pipeline alongside aros2_medkitgateway, with a SOVD manifest that maps every BT executable to its component. Provides the runtime piece that consumes thefeat/medkit-integrationfork ofmanymove(PR selfpatch/manymove#1).What changes
New demo:
demos/manymove_industrial/xarm-sim(manymove BT + fake hardware on Domain ID 42),medkit-gateway(FaultManager + REST),medkit-web-ui. Network bridgemedkit-net.bt_client_*withros_binding.namespace+node_namematching the renamed unique node names in the fork).medkit_params.yaml: rosbag snapshot config with explicit topic list (/joint_states,/tf,/tf_static,/blackboard_status,/planning_scene), MCAP format, 50 MB per-bag cap, 500 MB total.run-demo.sh,stop-demo.sh,check-demo.sh,inject-soft-fault.sh,restore-normal.sh.Smoke test
tests/smoke_test_manymove_industrial.sh: brings up the stack, waits for gateway health, triggers a collision via the inject helper, polls/faults/activefor a manymove planner fault (accepts eitherCOLLISION_DETECTEDorRETRIES_EXHAUSTED).CI
build-and-test-manymove-industrialin.github/workflows/ci.yml, mirroring the existingbuild-and-test-moveitshape: builds the compose stack, runs the smoke test, uploads logs on failure.Bug fixes (during integration)
Dependencies
selfpatch/manymovebranchfeat/medkit-integration(Feat/medkit integration manymove#1) so the BT action nodes actually emit medkit faults. Without that PR merged, the demo runs but no faults are reported through the native instrumentation path.