diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
old mode 100644
new mode 100755
index 588666e..48048a5
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -163,3 +163,29 @@ jobs:
         if: always()
         working-directory: demos/multi_ecu_aggregation
         run: docker compose --profile ci down
+
+  build-and-test-manymove-industrial:
+    runs-on: ubuntu-24.04
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Build and start manymove_industrial demo (sim + plc + bridge)
+        working-directory: demos/manymove_industrial
+        run: docker compose --profile ci up -d --build
+
+      - name: Run smoke tests
+        run: ./tests/smoke_test_manymove_industrial.sh
+
+      - name: Show container logs on failure
+        if: failure()
+        working-directory: demos/manymove_industrial
+        run: |
+          docker compose --profile ci logs manymove-sim-ci --tail=200 || true
+          docker compose --profile ci logs plc-sim --tail=100 || true
+          docker compose --profile ci logs opcua-bridge --tail=100 || true
+
+      - name: Teardown
+        if: always()
+        working-directory: demos/manymove_industrial
+        run: docker compose --profile ci down
diff --git a/demos/manymove_industrial/CMakeLists.txt b/demos/manymove_industrial/CMakeLists.txt
new file mode 100644
index 0000000..42ab381
--- /dev/null
+++ b/demos/manymove_industrial/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.10)
+project(manymove_industrial)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY config launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/demos/manymove_industrial/Dockerfile b/demos/manymove_industrial/Dockerfile
new file mode 100644
index 0000000..744790a
--- /dev/null
+++ b/demos/manymove_industrial/Dockerfile
@@ -0,0 +1,216 @@
+# manymove_industrial demo image: matches the manymove project's own docker
+# style (manymove + Groot + xArm ROS 2 driver, all built from source) and
+# layers on the ros2_medkit fault reporting stack.
+#
+# The base layers reproduce manymove_bringup/docker/Dockerfile.manymove and
+# Dockerfile.manymove_xarm so the resulting image runs xarm7_movegroup_fake
+# launches identically to the upstream demos. MANYMOVE_REPO defaults to the
+# selfpatch fork on the feat/medkit-integration branch where the BT action
+# nodes emit MANYMOVE_* fault codes via ros2_medkit_fault_reporter.
+
+# syntax=docker/dockerfile:1
+ARG ROS_DISTRO=jazzy
+ARG BASE_IMAGE=ros:${ROS_DISTRO}
+FROM ${BASE_IMAGE}
+
+ARG ROS_DISTRO=jazzy
+ARG USERNAME=manymove
+ARG USER_UID=1000
+ARG USER_GID=1000
+ARG MANYMOVE_COLCON_WORKERS=
+ARG MANYMOVE_REPO=https://github.com/selfpatch/manymove.git
+ARG MANYMOVE_BRANCH=feat/medkit-integration
+ARG MANYMOVE_COMMIT=
+ARG GROOT_REPO=https://github.com/pastoriomarco/Groot.git
+ARG GROOT_BRANCH=master
+ARG GROOT_COMMIT=
+ARG XARM_REPO=https://github.com/pastoriomarco/xarm_ros2.git
+ARG XARM_BRANCH=${ROS_DISTRO}
+ARG XARM_COMMIT=
+
+ENV DEBIAN_FRONTEND=noninteractive \
+    MANYMOVE_WS=/opt/manymove_ws \
+    ROS_DISTRO=${ROS_DISTRO} \
+    LANG=C.UTF-8 \
+    LC_ALL=C.UTF-8 \
+    TZ=UTC \
+    USERNAME=${USERNAME} \
+    USER=${USERNAME} \
+    QT_X11_NO_MITSHM=1 \
+    LIBGL_ALWAYS_SOFTWARE=1 \
+    MANYMOVE_COLCON_WORKERS=${MANYMOVE_COLCON_WORKERS}
+
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+# Isaac ROS apt repo for jazzy provides ros-jazzy-topic-based-ros2-control,
+# matching what the upstream manymove docker image expects.
+RUN set -euo pipefail; \
+    if [[ "${ROS_DISTRO}" == "jazzy" ]]; then \
+        apt-get update && \
+        apt-get install -y curl gnupg && \
+        mkdir -p /usr/share/keyrings && \
+        curl -fsSL https://isaac.download.nvidia.com/isaac-ros/repos.key \
+          | gpg --dearmor -o /usr/share/keyrings/isaac-ros-archive-keyring.gpg && \
+        . /etc/os-release && \
+        printf 'deb [signed-by=/usr/share/keyrings/isaac-ros-archive-keyring.gpg] https://isaac.download.nvidia.com/isaac-ros/release-4 %s main\n' "${VERSION_CODENAME}" \
+          > /etc/apt/sources.list.d/isaac-ros.list && \
+        apt-get update; \
+    fi
+
+# manymove + Groot build deps, MoveIt 2 stack, BT/ros2_control, plus the
+# ros2_medkit deb packages this fork instruments against.
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+        cmake build-essential curl git gosu locales sudo \
+        python3-colcon-common-extensions python3-vcstool python3-rosdep python3-pip \
+        nano jq sqlite3 libsqlite3-dev libsystemd-dev nlohmann-json3-dev libcpp-httplib-dev \
+        mesa-utils libgl1-mesa-dri libglu1-mesa libglvnd0 libglx-mesa0 libegl1 \
+        libxcb-xinerama0 libxkbcommon-x11-0 \
+        libzmq3-dev qtbase5-dev qttools5-dev-tools libqt5svg5-dev libqt5opengl5-dev \
+        ros-${ROS_DISTRO}-moveit \
+        ros-${ROS_DISTRO}-moveit-msgs \
+        ros-${ROS_DISTRO}-moveit-core \
+        ros-${ROS_DISTRO}-moveit-ros-planning-interface \
+        ros-${ROS_DISTRO}-moveit-ros-visualization \
+        ros-${ROS_DISTRO}-moveit-servo \
+        ros-${ROS_DISTRO}-moveit-visual-tools \
+        ros-${ROS_DISTRO}-moveit-resources-panda-moveit-config \
+        ros-${ROS_DISTRO}-controller-manager \
+        ros-${ROS_DISTRO}-controller-manager-msgs \
+        ros-${ROS_DISTRO}-ros2-controllers \
+        ros-${ROS_DISTRO}-gripper-controllers \
+        ros-${ROS_DISTRO}-control-toolbox \
+        ros-${ROS_DISTRO}-control-msgs \
+        ros-${ROS_DISTRO}-geometric-shapes \
+        ros-${ROS_DISTRO}-behaviortree-cpp-v3 \
+        ros-${ROS_DISTRO}-ur \
+        ros-${ROS_DISTRO}-ur-moveit-config \
+        ros-${ROS_DISTRO}-robotiq-description \
+        ros-${ROS_DISTRO}-robotiq-controllers \
+        ros-${ROS_DISTRO}-topic-based-ros2-control \
+        ros-${ROS_DISTRO}-simulation-interfaces \
+        ros-${ROS_DISTRO}-vision-msgs \
+        ros-${ROS_DISTRO}-joint-state-publisher \
+        ros-${ROS_DISTRO}-joint-state-publisher-gui \
+        ros-${ROS_DISTRO}-joint-state-broadcaster \
+        ros-${ROS_DISTRO}-joint-trajectory-controller \
+        ros-${ROS_DISTRO}-diff-drive-controller \
+        ros-${ROS_DISTRO}-tf-transformations \
+        ros-${ROS_DISTRO}-xacro \
+        ros-${ROS_DISTRO}-image-view \
+        ros-${ROS_DISTRO}-find-object-2d \
+        ros-${ROS_DISTRO}-joy \
+        ros-${ROS_DISTRO}-camera-info-manager \
+        ros-${ROS_DISTRO}-hardware-interface \
+        ros-${ROS_DISTRO}-ros-gz \
+        ros-${ROS_DISTRO}-ros-gz-bridge \
+        ros-${ROS_DISTRO}-ros-gz-sim \
+        ros-${ROS_DISTRO}-gz-ros2-control \
+        ros-${ROS_DISTRO}-rosbag2-storage-mcap \
+        ros-${ROS_DISTRO}-foxglove-bridge \
+        ros-${ROS_DISTRO}-ros2-medkit-fault-reporter \
+        ros-${ROS_DISTRO}-ros2-medkit-msgs \
+        ros-${ROS_DISTRO}-ros2-medkit-fault-manager \
+        ros-${ROS_DISTRO}-ros2-medkit-gateway \
+        ros-${ROS_DISTRO}-ros2-medkit-cmake \
+        ros-${ROS_DISTRO}-ros2-medkit-graph-provider \
+        ros-${ROS_DISTRO}-ros2-medkit-diagnostic-bridge && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN locale-gen en_US.UTF-8 && update-locale LANG=en_US.UTF-8
+
+# Non-root user matching the manymove pattern so X11 forwarding lines up.
+RUN set -eux; \
+    existing_group="$(getent group ${USER_GID} | cut -d: -f1 || true)"; \
+    if [[ -n "${existing_group}" ]]; then \
+        if [[ "${existing_group}" != "${USERNAME}" ]]; then \
+            groupmod --new-name "${USERNAME}" "${existing_group}"; \
+        fi; \
+    else \
+        groupadd --gid ${USER_GID} "${USERNAME}"; \
+    fi; \
+    existing_uid_user="$(getent passwd ${USER_UID} | cut -d: -f1 || true)"; \
+    if [[ -n "${existing_uid_user}" && "${existing_uid_user}" != "${USERNAME}" ]]; then \
+        usermod --login "${USERNAME}" --home "/home/${USERNAME}" --move-home "${existing_uid_user}"; \
+    elif getent passwd "${USERNAME}" >/dev/null 2>&1; then \
+        usermod --gid ${USER_GID} --home "/home/${USERNAME}" --move-home "${USERNAME}"; \
+    else \
+        useradd --uid ${USER_UID} --gid ${USER_GID} -m -s /bin/bash "${USERNAME}"; \
+    fi; \
+    usermod --gid ${USER_GID} --shell /bin/bash "${USERNAME}"; \
+    usermod -aG sudo "${USERNAME}"; \
+    printf '%s ALL=(ALL) NOPASSWD:ALL\n' "${USERNAME}" > "/etc/sudoers.d/${USERNAME}"; \
+    chmod 0440 "/etc/sudoers.d/${USERNAME}"
+
+RUN mkdir -p /tmp/runtime-${USERNAME} && chown ${USERNAME}:${USER_GID} /tmp/runtime-${USERNAME}
+ENV XDG_RUNTIME_DIR=/tmp/runtime-${USERNAME}
+RUN mkdir -p /var/lib/ros2_medkit/rosbags && chown -R ${USERNAME}:${USER_GID} /var/lib/ros2_medkit
+RUN mkdir -p ${MANYMOVE_WS}/src && chown -R ${USERNAME}:${USER_GID} ${MANYMOVE_WS}
+
+# Clone the selfpatch manymove fork (override via --build-arg if needed).
+RUN gosu ${USERNAME} bash -lc "set -euo pipefail; \
+    rm -rf ${MANYMOVE_WS}/src/manymove && \
+    git clone --branch ${MANYMOVE_BRANCH} --depth 1 ${MANYMOVE_REPO} ${MANYMOVE_WS}/src/manymove && \
+    cd ${MANYMOVE_WS}/src/manymove && \
+    if [ -n \"${MANYMOVE_COMMIT}\" ]; then \
+        git fetch --depth 1 origin ${MANYMOVE_COMMIT} && \
+        git checkout --detach ${MANYMOVE_COMMIT}; \
+    fi && \
+    git rev-parse HEAD > ${MANYMOVE_WS}/.manymove_commit"
+
+# Groot - BT visualizer, lets viewers see the BT execution live during demos.
+RUN gosu ${USERNAME} bash -lc "set -euo pipefail; \
+    cd ${MANYMOVE_WS}/src && \
+    rm -rf Groot && \
+    git clone --recurse-submodules --branch ${GROOT_BRANCH} ${GROOT_REPO} Groot && \
+    cd Groot && \
+    cmake -S . -B build && \
+    cmake --build build --parallel"
+
+# xArm ROS 2 driver - source clone is what upstream manymove relies on.
+RUN gosu ${USERNAME} bash -lc "set -euo pipefail; \
+    cd ${MANYMOVE_WS}/src && \
+    rm -rf xarm_ros2 && \
+    git clone --recursive --branch ${XARM_BRANCH} ${XARM_REPO} xarm_ros2 && \
+    cd xarm_ros2 && git submodule update --init --recursive"
+
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    cd ${MANYMOVE_WS} && \
+    if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then rosdep init; fi && \
+    apt-get update && rosdep update && \
+    rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y -r && \
+    apt-get clean && rm -rf /var/lib/apt/lists/*
+
+RUN gosu ${USERNAME} bash -lc "set -eo pipefail; \
+    source /opt/ros/${ROS_DISTRO}/setup.bash; \
+    cd ${MANYMOVE_WS}; \
+    parallel_args=\"\"; \
+    if [[ -n \"${MANYMOVE_COLCON_WORKERS}\" && \"${MANYMOVE_COLCON_WORKERS}\" =~ ^[0-9]+$ && \"${MANYMOVE_COLCON_WORKERS}\" -gt 0 ]]; then \
+        parallel_args=\"--parallel-workers ${MANYMOVE_COLCON_WORKERS}\"; \
+        export CMAKE_BUILD_PARALLEL_LEVEL=${MANYMOVE_COLCON_WORKERS}; \
+    fi; \
+    colcon build --symlink-install \${parallel_args}"
+RUN chown -R ${USERNAME}:${USER_GID} ${MANYMOVE_WS}
+
+# Demo overlay: manifest + container_scripts + launch files.
+COPY package.xml CMakeLists.txt ${MANYMOVE_WS}/src/manymove_industrial/
+COPY config/   ${MANYMOVE_WS}/src/manymove_industrial/config/
+COPY launch/   ${MANYMOVE_WS}/src/manymove_industrial/launch/
+COPY container_scripts/ /var/lib/ros2_medkit/scripts/
+RUN find /var/lib/ros2_medkit/scripts -name '*.bash' -exec chmod +x {} \; && \
+    chown -R ${USERNAME}:${USER_GID} ${MANYMOVE_WS}/src/manymove_industrial /var/lib/ros2_medkit
+RUN gosu ${USERNAME} bash -lc "set -eo pipefail; \
+    source /opt/ros/${ROS_DISTRO}/setup.bash; \
+    source ${MANYMOVE_WS}/install/setup.bash; \
+    cd ${MANYMOVE_WS}; \
+    colcon build --symlink-install --packages-select manymove_industrial"
+
+WORKDIR ${MANYMOVE_WS}
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
+    echo "source ${MANYMOVE_WS}/install/setup.bash" >> /etc/bash.bashrc
+
+USER ${USERNAME}
+EXPOSE 8080 8765
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]
diff --git a/demos/manymove_industrial/README.md b/demos/manymove_industrial/README.md
new file mode 100644
index 0000000..c8bba7d
--- /dev/null
+++ b/demos/manymove_industrial/README.md
@@ -0,0 +1,115 @@
+# manymove_industrial
+
+manymove BT manipulator pipeline (xArm7 fake hardware) with `ros2_medkit`
+fault reporting. The image follows the manymove project's own docker style
+(manymove + Groot + xarm_ros2 all built from source) and adds the medkit
+fault_manager / gateway / web UI on top.
+
+## What's in the demo
+
+- xArm7 cobot under `fake_components` hardware (no real arm needed)
+- MoveIt 2 + manymove BT pipeline launched via the upstream
+  `xarm7_movegroup_fake_cpp_trees.launch.py`
+- `bt_client_xarm7` from the [selfpatch fork](https://github.com/selfpatch/manymove)
+  emits `MANYMOVE_*` fault codes through `ros2_medkit_fault_reporter` on
+  collision / retry / IO failures
+- Groot BT visualizer (built from source, same as the upstream demo) for a
+  live view of the BT during the run
+- manymove Qt HMI for operator-driven blackboard mutation
+- medkit fault_manager + gateway + Web UI on `:3000` for the fault timeline
+
+## Status
+
+**v1 (this directory):** real BT pipeline + medkit. Inject scripts use the
+`update_blackboard` HMI service so faults are produced organically by the BT
+nodes (not synthesised on the FaultManager service).
+
+**v2 (this directory, since `feat/manymove-industrial`):** adds the PLC tier.
+A Python OPC UA server (`plc_sim/`) emulates the line PLC (photoeye,
+conveyor, e-stop tags) and publishes `AlarmConditionType` events. A ROS 2
+bridge (`opcua_bridge/`) subscribes to those events and forwards them to
+the `FaultManager` as `MANYMOVE_PLC_*` faults with `source_id=/plc/sensor_io`.
+The PLC sim is swappable with a real OpenPLC v3 + ST program later; the
+OPC UA AlarmConditionType surface stays the same.
+
+This gives the demo a real cross-source narrative: a PLC photoeye flicker
+WARN can land in the same dashboard alongside a manymove BT
+`MANYMOVE_PLANNER_COLLISION_DETECTED` CRITICAL, on one timeline.
+
+## Prerequisites
+
+- Docker Engine + `docker compose` plugin
+- `xhost` (any standard X server install) for the GUI tools on the cpu profile
+- `curl`, `jq` for the host-side helper scripts
+
+The first build is heavy (downloads + colcon-builds manymove, Groot and
+xarm_ros2 from source). Expect 25-40 minutes the first time; subsequent
+builds reuse Docker layer cache.
+
+## Quick start
+
+```bash
+./run-demo.sh           # cpu profile, X11 RViz/Groot/HMI, web UI on :3000
+./check-demo.sh         # gateway health + entity discovery + fault list
+./stop-demo.sh
+
+./run-demo.sh --ci      # headless, no web UI / no X11 (matches CI smoke job)
+```
+
+## Fault scenarios
+
+Container scripts under `container_scripts/manymove-planning/` are mounted
+at the well-known gateway scripts dir and runnable from the web UI or via
+`scripts-api.sh`:
+
+- `arm-self-test` - emits `MANYMOVE_SELFTEST` (INFO + immediate PASSED) so
+  operators can confirm the medkit pipeline is wired without producing a
+  real fault entry.
+- `inject-collision` - flips the BT blackboard `collision_detected` flag.
+  The next `MoveManipulatorAction::onStart` tick observes it, emits
+  `MANYMOVE_PLANNER_COLLISION_DETECTED` (ERROR) and returns FAILURE.
+  This is a real BT fault, not a synthesised report.
+- `inject-soft-fault` - drops a thin collision wall in the planning scene
+  near the pick zone; planning fails ~30% of attempts and the BT emits
+  `MANYMOVE_PLANNER_RETRY_ATTEMPT` (WARN). The reporter's LocalFilter
+  (threshold=3, window=10s) throttles those locally and only forwards once
+  the threshold is crossed - this is the soft-fault narrative.
+- `restore-normal` - clears `collision_detected`, `stop_execution` and
+  triggers `reset` + `start` on the blackboard so the BT picks up cleanly.
+
+## SOVD manifest
+
+`config/manymove_industrial_manifest.yaml` declares the BT client, MoveIt
+move_group, manymove planner and object_manager action servers, the
+ufactory_driver, the HMI service node, and the medkit fault_manager /
+gateway. Apps' `ros_binding.namespace + node_name` link the gateway to the
+runtime FQNs from the upstream xarm7 launch (the manymove fork renames
+each `bt_client_*` executable's ROS node to match its binary).
+
+## Live BT view (Groot)
+
+The image builds Groot from source (matching upstream manymove). Once the
+demo is up:
+
+```bash
+docker compose exec manymove-sim bash -lc \
+  "source install/setup.bash && src/Groot/build/Groot"
+```
+
+This is the same workflow upstream manymove uses to record demo videos.
+
+## TODO: PLC tier (v1.5)
+
+Tier 2 PLC correlation narrative is deferred to a follow-up commit:
+
+- Custom OpenPLC v3 image (mirror `demos/openplc_tank/openplc/Dockerfile`,
+  enable OPC UA driver) + ST program (conveyor + cylinder + photoeye + e-stop).
+- Python `asyncua` ROS<->OPC UA bridge node that publishes PLC tags as ROS
+  topics, exposes `/plc/set_estop`, and emits its own `PLC_ESTOP_ENGAGED`
+  fault.
+- Correlation logic: bridge subscribes to `/fault_manager/events`, observes
+  the pair (`PLC_ESTOP_ENGAGED` + `MANYMOVE_PLANNER_ESTOP_TRIGGERED`) within
+  a 2 s window, emits the synthetic `CORRELATED_LINE_ESTOP` fault. Filters
+  events whose source_id matches its own to avoid feedback.
+- `inject-hard-fault.sh` flips the PLC e-stop, demonstrating the tier-2
+  narrative end to end.
diff --git a/demos/manymove_industrial/check-demo.sh b/demos/manymove_industrial/check-demo.sh
new file mode 100755
index 0000000..170db37
--- /dev/null
+++ b/demos/manymove_industrial/check-demo.sh
@@ -0,0 +1,17 @@
+#!/bin/bash
+set -euo pipefail
+
+GATEWAY="${GATEWAY:-http://localhost:8080}"
+
+echo "Gateway health:"
+curl -fsS "${GATEWAY}/api/v1/health" || echo "  FAIL"
+
+echo ""
+echo "Apps:"
+curl -fsS "${GATEWAY}/api/v1/apps" | jq -c '.items[] | {id, ros_binding}' || true
+
+echo ""
+echo "Active faults (CONFIRMED + PREFAILED):"
+curl -fsS -X POST -H "Content-Type: application/json" \
+  -d '{"statuses": ["CONFIRMED", "PREFAILED"]}' \
+  "${GATEWAY}/api/v1/faults/list" | jq -c '.items[] | {fault_code, severity, status, source: .reporting_sources[0]}' || true
diff --git a/demos/manymove_industrial/config/manymove_industrial_manifest.yaml b/demos/manymove_industrial/config/manymove_industrial_manifest.yaml
new file mode 100644
index 0000000..f37635e
--- /dev/null
+++ b/demos/manymove_industrial/config/manymove_industrial_manifest.yaml
@@ -0,0 +1,217 @@
+manifest_version: "1.0"
+metadata:
+  name: "manymove-industrial"
+  description: "manymove BT manipulator pipeline (xArm7 fake hardware) with medkit fault reporting"
+  version: "0.1.0"
+
+config:
+  unmanifested_nodes: "warn"
+  inherit_runtime_resources: true
+
+areas:
+  - id: manipulation
+    name: "Manipulation"
+    description: "xArm7 cobot under fake_components hardware"
+    namespace: /
+  - id: planning
+    name: "Planning"
+    description: "BehaviorTree.CPP orchestration and MoveIt motion planning"
+    namespace: /
+  - id: diagnostics
+    name: "Diagnostics"
+    description: "ros2_medkit fault management"
+    namespace: /
+  - id: line
+    name: "Conveyor line"
+    description: "PLC-driven conveyor line: photoeyes, motor, e-stop"
+    # /plc namespace anchors topic-discovered PLC-side nodes (opcua_bridge
+    # publishes /plc/heartbeat etc.) into this area in the SOVD entity tree.
+    namespace: /plc
+
+components:
+  - id: xarm7-arm
+    name: "xArm 7 manipulator"
+    type: "manipulator"
+    description: "7-DoF cobot, fake_components hardware"
+    area: manipulation
+  - id: ufactory-driver
+    name: "UFactory ROS 2 driver"
+    type: "driver"
+    description: "xarm_ros2 driver layer (fake mode)"
+    area: manipulation
+  - id: manymove-bt
+    name: "manymove BT client"
+    type: "controller"
+    description: "BehaviorTree.CPP orchestration of pick/place sequences"
+    area: planning
+  - id: manymove-planning
+    name: "manymove planning subsystem"
+    type: "controller"
+    description: "Logical grouping for planning-side container scripts (collision inject, restore, self-test)"
+    area: planning
+  - id: move-group
+    name: "MoveIt move_group"
+    type: "planner"
+    description: "OMPL motion planner"
+    area: planning
+  - id: object-manager
+    name: "manymove object_manager"
+    type: "service"
+    description: "Planning scene collision objects"
+    area: planning
+  - id: action-server
+    name: "manymove planner action_server"
+    type: "service"
+    description: "MoveManipulator / PlanManipulator action servers"
+    area: planning
+  - id: gateway
+    name: "ros2_medkit gateway"
+    type: "diagnostics"
+    description: "HTTP REST API for fault inspection"
+    area: diagnostics
+  - id: fault-manager
+    name: "ros2_medkit fault_manager"
+    type: "diagnostics"
+    description: "SQLite-backed fault store"
+    area: diagnostics
+  - id: openplc
+    name: "Line PLC (OPC UA)"
+    type: "controller"
+    description: "IEC 61131-3 soft PLC exposing photoeye / conveyor / e-stop tags + AlarmConditionType events"
+    area: line
+  - id: photoeye-pick
+    name: "Pick photoeye"
+    type: "sensor"
+    description: "Diffuse-mode photoelectric sensor at pick position"
+    area: line
+  - id: photoeye-drop
+    name: "Drop photoeye"
+    type: "sensor"
+    description: "Diffuse-mode photoelectric sensor at drop position"
+    area: line
+  - id: conveyor-motor
+    name: "Conveyor motor"
+    type: "actuator"
+    description: "Belt drive motor"
+    area: line
+  - id: opcua-bridge
+    name: "OPC UA -> medkit bridge"
+    type: "bridge"
+    description: "Subscribes to PLC AlarmConditionType events and forwards them as medkit faults"
+    area: line
+  - id: conveyor-line
+    name: "Conveyor line subsystem"
+    type: "controller"
+    description: "Logical grouping for line-side container scripts (PLC alarm inject / restore)"
+    area: line
+
+apps:
+  - id: bt-client-xarm7
+    name: "BT client (xArm7)"
+    category: "controller"
+    is_located_on: manymove-bt
+    ros_binding:
+      namespace: /
+      node_name: bt_client_xarm7
+  - id: hmi-service-node
+    name: "HMI service node"
+    category: "controller"
+    is_located_on: manymove-bt
+    ros_binding:
+      namespace: /
+      node_name: hmi_service_node
+  - id: move-group-app
+    name: "move_group"
+    category: "planner"
+    is_located_on: move-group
+    ros_binding:
+      namespace: /
+      node_name: move_group
+  - id: action-server-app
+    name: "action_server_node"
+    category: "service"
+    is_located_on: action-server
+    ros_binding:
+      namespace: /
+      node_name: action_server_node
+  - id: object-manager-app
+    name: "object_manager_node"
+    category: "service"
+    is_located_on: object-manager
+    ros_binding:
+      namespace: /
+      node_name: object_manager_node
+  - id: ufactory-driver-app
+    name: "ufactory_driver"
+    category: "driver"
+    is_located_on: ufactory-driver
+    ros_binding:
+      namespace: /
+      node_name: ufactory_driver
+  - id: fault-manager-app
+    name: "fault_manager"
+    category: "diagnostics"
+    is_located_on: fault-manager
+    ros_binding:
+      namespace: /
+      node_name: fault_manager
+  - id: gateway-app
+    name: "ros2_medkit_gateway"
+    category: "diagnostics"
+    is_located_on: gateway
+    ros_binding:
+      namespace: /
+      node_name: ros2_medkit_gateway
+  - id: openplc-runtime
+    name: "OpenPLC runtime"
+    category: "controller"
+    is_located_on: openplc
+    ros_binding:
+      namespace: /plc
+      node_name: openplc_runtime
+  - id: opcua-bridge-app
+    name: "opcua_bridge"
+    category: "bridge"
+    is_located_on: opcua-bridge
+    ros_binding:
+      namespace: /plc
+      node_name: sensor_io
+
+functions:
+  - id: pick-and-place
+    name: "Pick and place"
+    category: "manipulation"
+    description: "BT-driven manipulation sequence on fake xArm7"
+    hosted_by:
+      - bt-client-xarm7
+      - move-group-app
+      - action-server-app
+      - object-manager-app
+  - id: hmi-control
+    name: "Operator control"
+    category: "interaction"
+    description: "Qt HMI panel for blackboard mutation and BT reset"
+    hosted_by:
+      - hmi-service-node
+      - bt-client-xarm7
+  - id: fault-management
+    name: "Fault management"
+    category: "diagnostics"
+    description: "Capture, persist, and surface BT runtime failures emitted by manymove_cpp_trees"
+    hosted_by:
+      - fault-manager-app
+      - gateway-app
+  - id: line-control
+    name: "Line control"
+    category: "controller"
+    description: "PLC-driven conveyor sequencing with safety interlocks"
+    hosted_by:
+      - openplc-runtime
+  - id: fault-aggregation
+    name: "Cross-source fault aggregation"
+    category: "diagnostics"
+    description: "Bridge PLC AlarmConditionType events into the same medkit FaultManager that aggregates ROS-side faults"
+    hosted_by:
+      - opcua-bridge-app
+      - fault-manager-app
+      - gateway-app
diff --git a/demos/manymove_industrial/config/medkit_params.yaml b/demos/manymove_industrial/config/medkit_params.yaml
new file mode 100644
index 0000000..638a21e
--- /dev/null
+++ b/demos/manymove_industrial/config/medkit_params.yaml
@@ -0,0 +1,51 @@
+diagnostics:
+  ros2_medkit_gateway:
+    ros__parameters:
+      server:
+        host: "0.0.0.0"
+        port: 8080
+      cors:
+        allowed_origins: ["*"]
+        allowed_methods: ["GET", "PUT", "POST", "DELETE", "OPTIONS"]
+        allowed_headers: ["Content-Type", "Accept"]
+        allow_credentials: false
+        max_age_seconds: 86400
+      discovery:
+        manifest_path: ""  # set by launch
+        mode: "hybrid"
+        manifest_strict_validation: true
+      plugins: [""]
+      scripts:
+        scripts_dir: "/var/lib/ros2_medkit/scripts"
+        max_concurrent_executions: 3
+
+fault_manager:
+  ros__parameters:
+    storage_type: "sqlite"
+    database_path: "/var/lib/ros2_medkit/faults.db"
+    confirmation_threshold: 0
+    snapshots:
+      enabled: true
+      default_topics:
+        - "/joint_states"
+        - "/tf"
+        - "/tf_static"
+      rosbag:
+        enabled: true
+        duration_sec: 10.0
+        duration_after_sec: 2.0
+        storage_path: "/var/lib/ros2_medkit/rosbags"
+        format: "mcap"
+        max_bag_size_mb: 50
+        max_total_storage_mb: 500
+        topics: "/joint_states,/tf,/tf_static,/blackboard_status,/planning_scene"
+
+# Per-node fault_reporter local filtering.
+bt_client_xarm7:
+  ros__parameters:
+    fault_reporter:
+      local_filtering:
+        enabled: true
+        default_threshold: 3
+        default_window_sec: 10.0
+        bypass_severity: 2  # ERROR + CRITICAL bypass filtering
diff --git a/demos/manymove_industrial/container_scripts/conveyor-line/inject-estop/metadata.json b/demos/manymove_industrial/container_scripts/conveyor-line/inject-estop/metadata.json
new file mode 100644
index 0000000..56379f5
--- /dev/null
+++ b/demos/manymove_industrial/container_scripts/conveyor-line/inject-estop/metadata.json
@@ -0,0 +1,5 @@
+{
+  "name": "Inject PLC e-stop (CRITICAL)",
+  "description": "Raises the EstopEngaged AlarmConditionType on the PLC OPC UA server. The opcua_bridge forwards it as MANYMOVE_PLC_ESTOP_ENGAGED (CRITICAL) into the medkit FaultManager.",
+  "format": "bash"
+}
diff --git a/demos/manymove_industrial/container_scripts/conveyor-line/inject-estop/script.bash b/demos/manymove_industrial/container_scripts/conveyor-line/inject-estop/script.bash
new file mode 100755
index 0000000..9d25668
--- /dev/null
+++ b/demos/manymove_industrial/container_scripts/conveyor-line/inject-estop/script.bash
@@ -0,0 +1,13 @@
+#!/bin/bash
+# Raise EstopEngaged AlarmConditionType (CRITICAL severity) via the PLC
+# admin endpoint. opcua_bridge forwards it to medkit as
+# MANYMOVE_PLC_ESTOP_ENGAGED.
+set -e
+
+PLC_ADMIN="${PLC_ADMIN_URL:-http://plc-sim:8500}"
+
+curl -fsS -X POST -H "Content-Type: application/json" \
+    -d '{"message":"Line e-stop pressed at station 2"}' \
+    "${PLC_ADMIN}/alarm/estop_engaged/raise" >/dev/null
+
+echo "EstopEngaged alarm raised on ${PLC_ADMIN}"
diff --git a/demos/manymove_industrial/container_scripts/conveyor-line/inject-photoeye-flicker/metadata.json b/demos/manymove_industrial/container_scripts/conveyor-line/inject-photoeye-flicker/metadata.json
new file mode 100644
index 0000000..d696fa9
--- /dev/null
+++ b/demos/manymove_industrial/container_scripts/conveyor-line/inject-photoeye-flicker/metadata.json
@@ -0,0 +1,5 @@
+{
+  "name": "Inject PLC photoeye flicker (WARN)",
+  "description": "Raises the PhotoeyeFlicker AlarmConditionType on the PLC OPC UA server. The opcua_bridge subscribes and forwards it as MANYMOVE_PLC_PHOTOEYE_FLICKER (WARN) into the medkit FaultManager.",
+  "format": "bash"
+}
diff --git a/demos/manymove_industrial/container_scripts/conveyor-line/inject-photoeye-flicker/script.bash b/demos/manymove_industrial/container_scripts/conveyor-line/inject-photoeye-flicker/script.bash
new file mode 100755
index 0000000..4ad82f4
--- /dev/null
+++ b/demos/manymove_industrial/container_scripts/conveyor-line/inject-photoeye-flicker/script.bash
@@ -0,0 +1,13 @@
+#!/bin/bash
+# Raise PhotoeyeFlicker AlarmConditionType via the PLC admin endpoint.
+# The opcua_bridge service is subscribed and forwards it as
+# MANYMOVE_PLC_PHOTOEYE_FLICKER (WARN) to the medkit FaultManager.
+set -e
+
+PLC_ADMIN="${PLC_ADMIN_URL:-http://plc-sim:8500}"
+
+curl -fsS -X POST -H "Content-Type: application/json" \
+    -d '{"message":"Pick photoeye toggled 12 times in 2s, expected <=3"}' \
+    "${PLC_ADMIN}/alarm/photoeye_flicker/raise" >/dev/null
+
+echo "PhotoeyeFlicker alarm raised on ${PLC_ADMIN}"
diff --git a/demos/manymove_industrial/container_scripts/conveyor-line/restore-line/metadata.json b/demos/manymove_industrial/container_scripts/conveyor-line/restore-line/metadata.json
new file mode 100644
index 0000000..f27a6a7
--- /dev/null
+++ b/demos/manymove_industrial/container_scripts/conveyor-line/restore-line/metadata.json
@@ -0,0 +1,5 @@
+{
+  "name": "Clear PLC alarms",
+  "description": "Clears all three PLC AlarmConditionType alarms (photoeye_flicker, conveyor_overspeed, estop_engaged). The opcua_bridge forwards PASSED events that heal the corresponding medkit faults.",
+  "format": "bash"
+}
diff --git a/demos/manymove_industrial/container_scripts/conveyor-line/restore-line/script.bash b/demos/manymove_industrial/container_scripts/conveyor-line/restore-line/script.bash
new file mode 100755
index 0000000..0f87862
--- /dev/null
+++ b/demos/manymove_industrial/container_scripts/conveyor-line/restore-line/script.bash
@@ -0,0 +1,11 @@
+#!/bin/bash
+# Clear every PLC AlarmConditionType. opcua_bridge forwards a PASSED
+# event per alarm, healing the corresponding medkit fault.
+set -e
+
+PLC_ADMIN="${PLC_ADMIN_URL:-http://plc-sim:8500}"
+
+for alarm in photoeye_flicker conveyor_overspeed estop_engaged; do
+    curl -fsS -X POST "${PLC_ADMIN}/alarm/${alarm}/clear" >/dev/null || true
+    echo "cleared ${alarm}"
+done
diff --git a/demos/manymove_industrial/container_scripts/manymove-planning/arm-self-test/metadata.json b/demos/manymove_industrial/container_scripts/manymove-planning/arm-self-test/metadata.json
new file mode 100644
index 0000000..b2f81d5
--- /dev/null
+++ b/demos/manymove_industrial/container_scripts/manymove-planning/arm-self-test/metadata.json
@@ -0,0 +1,5 @@
+{
+  "name": "Arm self-test (synthetic)",
+  "description": "Emits an INFO-severity health-check fault (and immediately PASSED) so operators can confirm the medkit pipeline is wired.",
+  "format": "bash"
+}
diff --git a/demos/manymove_industrial/container_scripts/manymove-planning/arm-self-test/script.bash b/demos/manymove_industrial/container_scripts/manymove-planning/arm-self-test/script.bash
new file mode 100755
index 0000000..dd26448
--- /dev/null
+++ b/demos/manymove_industrial/container_scripts/manymove-planning/arm-self-test/script.bash
@@ -0,0 +1,19 @@
+#!/bin/bash
+set -eu
+
+# shellcheck source=/dev/null
+source /opt/ros/jazzy/setup.bash
+
+CODE="MANYMOVE_SELFTEST"
+
+ros2 service call /fault_manager/report_fault \
+  ros2_medkit_msgs/srv/ReportFault \
+  "{fault_code: '${CODE}', event_type: 0, severity: 0, \
+    description: 'arm-self-test: pipeline OK', source_id: '/bt_client_xarm7'}"
+
+sleep 1
+
+ros2 service call /fault_manager/report_fault \
+  ros2_medkit_msgs/srv/ReportFault \
+  "{fault_code: '${CODE}', event_type: 1, severity: 0, \
+    description: 'arm-self-test: cleared', source_id: '/bt_client_xarm7'}"
diff --git a/demos/manymove_industrial/container_scripts/manymove-planning/inject-collision/metadata.json b/demos/manymove_industrial/container_scripts/manymove-planning/inject-collision/metadata.json
new file mode 100644
index 0000000..621b962
--- /dev/null
+++ b/demos/manymove_industrial/container_scripts/manymove-planning/inject-collision/metadata.json
@@ -0,0 +1,5 @@
+{
+  "name": "Inject planner collision (real BT)",
+  "description": "Sets the BT blackboard 'collision_detected' flag via update_blackboard. The next MoveManipulatorAction tick observes it, emits MANYMOVE_PLANNER_COLLISION_DETECTED, and the BT returns FAILURE.",
+  "format": "bash"
+}
diff --git a/demos/manymove_industrial/container_scripts/manymove-planning/inject-collision/script.bash b/demos/manymove_industrial/container_scripts/manymove-planning/inject-collision/script.bash
new file mode 100755
index 0000000..f49bfdb
--- /dev/null
+++ b/demos/manymove_industrial/container_scripts/manymove-planning/inject-collision/script.bash
@@ -0,0 +1,23 @@
+#!/bin/bash
+# Trigger a real collision fault by flipping the BT blackboard's
+# collision_detected flag. MoveManipulatorAction::onStart will see the flag
+# next tick, emit MANYMOVE_PLANNER_COLLISION_DETECTED and return FAILURE.
+#
+# `set -u` is intentionally avoided: ROS 2's setup.bash references unbound
+# variables when sourced from a fresh shell.
+set -e
+
+# shellcheck source=/dev/null
+source /opt/ros/jazzy/setup.bash
+# shellcheck source=/dev/null
+source /opt/manymove_ws/install/setup.bash
+
+# Default xArm7 prefix in the upstream launch is empty; the BT keys live in
+# the global blackboard under the "<robot_prefix>collision_detected" name.
+# update_blackboard expects value_data as quoted strings even for bool/double
+# (the service serialises every entry as a string).
+PREFIX="${ROBOT_PREFIX:-}"
+
+ros2 service call /update_blackboard \
+  manymove_msgs/srv/SetBlackboardValues \
+  "{key: ['${PREFIX}collision_detected'], value_type: ['bool'], value_data: ['true']}"
diff --git a/demos/manymove_industrial/container_scripts/manymove-planning/inject-soft-fault/metadata.json b/demos/manymove_industrial/container_scripts/manymove-planning/inject-soft-fault/metadata.json
new file mode 100644
index 0000000..ca3aefe
--- /dev/null
+++ b/demos/manymove_industrial/container_scripts/manymove-planning/inject-soft-fault/metadata.json
@@ -0,0 +1,5 @@
+{
+  "name": "Inject soft fault (collision wall)",
+  "description": "Adds a thin collision wall in the planning scene near the pick zone. Roughly 30% of pick attempts fail to plan around it, which produces real MANYMOVE_PLANNER_RETRY_ATTEMPT bursts that the LocalFilter throttles before forwarding to the FaultManager.",
+  "format": "bash"
+}
diff --git a/demos/manymove_industrial/container_scripts/manymove-planning/inject-soft-fault/script.bash b/demos/manymove_industrial/container_scripts/manymove-planning/inject-soft-fault/script.bash
new file mode 100755
index 0000000..224f1e2
--- /dev/null
+++ b/demos/manymove_industrial/container_scripts/manymove-planning/inject-soft-fault/script.bash
@@ -0,0 +1,21 @@
+#!/bin/bash
+# Drop a thin collision wall into the planning scene. MoveManipulatorAction
+# will retry pick poses near it, occasionally fail planning, and emit
+# MANYMOVE_PLANNER_RETRY_ATTEMPT (WARN) before either succeeding or hitting
+# RETRIES_EXHAUSTED.
+set -e
+
+# shellcheck source=/dev/null
+source /opt/ros/jazzy/setup.bash
+# shellcheck source=/dev/null
+source /opt/manymove_ws/install/setup.bash
+
+ros2 action send_goal --feedback /add_collision_object \
+  manymove_msgs/action/AddCollisionObject \
+  "{object_id: 'soft_fault_wall', \
+    primitive_type: 'box', \
+    dimensions: [0.4, 0.02, 0.3], \
+    pose: {position: {x: 0.35, y: 0.0, z: 0.15}, orientation: {w: 1.0}}, \
+    frame_id: 'world', \
+    color: {r: 1.0, a: 0.5}}" \
+  || echo "(soft-fault: action server not available, skipping)"
diff --git a/demos/manymove_industrial/container_scripts/manymove-planning/restore-normal/metadata.json b/demos/manymove_industrial/container_scripts/manymove-planning/restore-normal/metadata.json
new file mode 100644
index 0000000..bb324ce
--- /dev/null
+++ b/demos/manymove_industrial/container_scripts/manymove-planning/restore-normal/metadata.json
@@ -0,0 +1,5 @@
+{
+  "name": "Restore normal (clear collision + resume BT)",
+  "description": "Clears collision_detected and stop_execution on the BT blackboard, sets reset+start so the BT picks up cleanly on the next tick.",
+  "format": "bash"
+}
diff --git a/demos/manymove_industrial/container_scripts/manymove-planning/restore-normal/script.bash b/demos/manymove_industrial/container_scripts/manymove-planning/restore-normal/script.bash
new file mode 100755
index 0000000..4a40b2d
--- /dev/null
+++ b/demos/manymove_industrial/container_scripts/manymove-planning/restore-normal/script.bash
@@ -0,0 +1,18 @@
+#!/bin/bash
+# Clear BT blackboard flags that the inject-* scripts may have set, so the
+# next BT tick proceeds normally. Also resets the BT execution state so
+# operators can rerun without restarting the demo.
+set -e
+
+# shellcheck source=/dev/null
+source /opt/ros/jazzy/setup.bash
+# shellcheck source=/dev/null
+source /opt/manymove_ws/install/setup.bash
+
+PREFIX="${ROBOT_PREFIX:-}"
+
+ros2 service call /update_blackboard \
+  manymove_msgs/srv/SetBlackboardValues \
+  "{key: ['${PREFIX}collision_detected', '${PREFIX}stop_execution', '${PREFIX}reset', '${PREFIX}start'], \
+    value_type: ['bool', 'bool', 'bool', 'bool'], \
+    value_data: ['false', 'false', 'true', 'true']}"
diff --git a/demos/manymove_industrial/docker-compose.yml b/demos/manymove_industrial/docker-compose.yml
new file mode 100644
index 0000000..5488aeb
--- /dev/null
+++ b/demos/manymove_industrial/docker-compose.yml
@@ -0,0 +1,113 @@
+services:
+  # cpu profile: full demo with X11 forwarding so RViz / Groot / manymove HMI
+  # render on the host display. matches the manymove project's own demo style.
+  manymove-sim:
+    profiles: ["cpu"]
+    build:
+      context: .
+      dockerfile: Dockerfile
+    container_name: manymove_industrial_sim
+    environment:
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+      - LIBGL_ALWAYS_SOFTWARE=1
+      - ROS_DOMAIN_ID=42
+      - HEADLESS=${HEADLESS:-false}
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - manymove_faults:/var/lib/ros2_medkit
+    ports:
+      - "8080:8080"   # medkit gateway HTTP
+      - "8765:8765"   # foxglove-bridge
+    networks:
+      medkit-net:
+        aliases: [medkit-gateway]
+    stdin_open: true
+    tty: true
+    command: >
+      bash -c "source /opt/ros/jazzy/setup.bash &&
+               source /opt/manymove_ws/install/setup.bash &&
+               ros2 launch manymove_industrial demo.launch.py headless:=$${HEADLESS}"
+
+  medkit-web-ui:
+    profiles: ["cpu"]
+    image: ghcr.io/selfpatch/ros2_medkit_web_ui:latest
+    container_name: manymove_industrial_web_ui
+    ports:
+      - "3000:80"
+    depends_on:
+      - manymove-sim
+    networks: [medkit-net]
+
+  # PLC simulator: OPC UA server emulating a line PLC (photoeye, conveyor,
+  # e-stop). Publishes AlarmConditionType events the bridge subscribes to.
+  # Swappable with a real OpenPLC v3 + ST program once the IEC 61131-3
+  # build pipeline is in place; the OPC UA surface stays identical.
+  plc-sim:
+    profiles: ["cpu", "ci"]
+    build:
+      context: ./plc_sim
+      dockerfile: Dockerfile
+    # No container_name: leaves the default service-name DNS alias intact
+    # on the user-defined bridge so other services can resolve `plc-sim`.
+    hostname: plc-sim
+    environment:
+      # asyncua advertises this URL in endpoint discovery; clients reconnect
+      # to it after the initial bind, so it must be a hostname they can
+      # resolve (the service name on medkit-net).
+      - PLC_OPCUA_ENDPOINT=opc.tcp://plc-sim:4840/manymove_plc/server
+    ports:
+      - "4840:4840"   # OPC UA endpoint
+      - "8500:8500"   # admin (raise/clear alarm via curl)
+    networks: [medkit-net]
+
+  # OPC UA -> medkit fault bridge. Subscribes to PLC alarm conditions and
+  # POSTs them to the FaultManager so PLC faults land in the same
+  # dashboard / SOVD entity tree as the manymove BT-side faults.
+  opcua-bridge:
+    profiles: ["cpu", "ci"]
+    build:
+      context: ./opcua_bridge
+      dockerfile: Dockerfile
+    # No container_name: keep the default service-name DNS alias on the
+    # bridge so the rest of the compose can resolve `opcua-bridge`.
+    hostname: opcua-bridge
+    environment:
+      - OPCUA_ENDPOINT=opc.tcp://plc-sim:4840/manymove_plc/server
+      - BRIDGE_SOURCE_ID=/plc/sensor_io
+      - REPORT_FAULT_SERVICE=/fault_manager/report_fault
+      - ROS_DOMAIN_ID=42
+      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+    depends_on:
+      - plc-sim
+    networks: [medkit-net]
+
+  # CI profile: headless, no web UI, no X11. Suitable for the smoke test.
+  manymove-sim-ci:
+    profiles: ["ci"]
+    build:
+      context: .
+      dockerfile: Dockerfile
+    container_name: manymove_industrial_sim_ci
+    environment:
+      - ROS_DOMAIN_ID=42
+      - HEADLESS=true
+    ports:
+      - "8080:8080"
+    volumes:
+      - manymove_faults_ci:/var/lib/ros2_medkit
+    networks:
+      medkit-net:
+        aliases: [medkit-gateway]
+    command: >
+      bash -c "source /opt/ros/jazzy/setup.bash &&
+               source /opt/manymove_ws/install/setup.bash &&
+               ros2 launch manymove_industrial demo.launch.py headless:=true"
+
+networks:
+  medkit-net:
+    driver: bridge
+
+volumes:
+  manymove_faults:
+  manymove_faults_ci:
diff --git a/demos/manymove_industrial/launch/demo.launch.py b/demos/manymove_industrial/launch/demo.launch.py
new file mode 100644
index 0000000..5f58a0f
--- /dev/null
+++ b/demos/manymove_industrial/launch/demo.launch.py
@@ -0,0 +1,70 @@
+"""manymove_industrial demo launch.
+
+Reuses the upstream manymove xarm7_movegroup_fake_cpp_trees launch verbatim
+so the BT pipeline behaves exactly as in the manymove project's own demos,
+and adds the medkit fault_manager + gateway against the SOVD manifest.
+
+The bt_client_xarm7 binary inside the manymove fork is the one that
+actually emits MANYMOVE_* fault codes through ros2_medkit_fault_reporter
+when the BT runs into collision / retry / IO failures.
+"""
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.conditions import IfCondition, UnlessCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    headless = LaunchConfiguration("headless")
+    log_level = LaunchConfiguration("log_level")
+
+    demo_pkg = FindPackageShare("manymove_industrial")
+    bringup_pkg = FindPackageShare("manymove_bringup")
+
+    manifest_path = PathJoinSubstitution([demo_pkg, "config", "manymove_industrial_manifest.yaml"])
+    medkit_params = PathJoinSubstitution([demo_pkg, "config", "medkit_params.yaml"])
+
+    # Upstream manymove xArm7 movegroup + BT pipeline (fake hardware).
+    manymove_xarm7 = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            bringup_pkg, "/launch/xarm7_movegroup_fake_cpp_trees.launch.py",
+        ]),
+        launch_arguments={"log_level": log_level}.items(),
+    )
+
+    fault_manager = Node(
+        package="ros2_medkit_fault_manager",
+        executable="fault_manager_node",
+        name="fault_manager",
+        output="screen",
+        parameters=[medkit_params],
+    )
+
+    gateway = Node(
+        package="ros2_medkit_gateway",
+        executable="gateway_node",
+        name="ros2_medkit_gateway",
+        namespace="diagnostics",
+        output="screen",
+        parameters=[medkit_params, {"discovery.manifest_path": manifest_path}],
+    )
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            "headless",
+            default_value="false",
+            description="Suppress GUI tools (rviz/groot/HMI) for CI runs.",
+        ),
+        DeclareLaunchArgument(
+            "log_level",
+            default_value="info",
+            description="Log level forwarded to the manymove BT client.",
+        ),
+        manymove_xarm7,
+        fault_manager,
+        gateway,
+    ])
diff --git a/demos/manymove_industrial/opcua_bridge/Dockerfile b/demos/manymove_industrial/opcua_bridge/Dockerfile
new file mode 100644
index 0000000..09e8dfe
--- /dev/null
+++ b/demos/manymove_industrial/opcua_bridge/Dockerfile
@@ -0,0 +1,20 @@
+FROM ros:jazzy-ros-base
+
+ENV DEBIAN_FRONTEND=noninteractive \
+    PYTHONUNBUFFERED=1 \
+    OPCUA_ENDPOINT=opc.tcp://plc-sim:4840/manymove_plc/server \
+    BRIDGE_SOURCE_ID=/plc/sensor_io \
+    REPORT_FAULT_SERVICE=/fault_manager/report_fault
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        python3-pip \
+        ros-jazzy-ros2-medkit-msgs=0.4.0-1* \
+        ros-jazzy-ros2-medkit-fault-reporter=0.4.0-1* \
+    && rm -rf /var/lib/apt/lists/* \
+    && pip install --no-cache-dir --break-system-packages --ignore-installed \
+        "asyncua==1.1.5"
+
+WORKDIR /opt/opcua_bridge
+COPY bridge.py ./
+
+CMD ["bash", "-c", "source /opt/ros/jazzy/setup.bash && exec python3 -u bridge.py"]
diff --git a/demos/manymove_industrial/opcua_bridge/bridge.py b/demos/manymove_industrial/opcua_bridge/bridge.py
new file mode 100644
index 0000000..a4892ef
--- /dev/null
+++ b/demos/manymove_industrial/opcua_bridge/bridge.py
@@ -0,0 +1,258 @@
+"""OPC UA -> ros2_medkit fault bridge.
+
+ROS 2 node that subscribes to AlarmConditionType events on the PLC OPC UA
+server and forwards them to the medkit FaultManager via the
+`/fault_manager/report_fault` ROS service. Each PLC alarm maps to a
+canonical MANYMOVE_PLC_* fault code so the same medkit dashboard that
+aggregates manymove BT-side faults also receives the PLC-side faults
+with a distinct `source_id`.
+
+The mapping table is deliberately explicit (not data-driven from the
+OPC UA discovery) so the demo SOVD manifest, the documentation and the
+bridge stay in lockstep.
+"""
+
+from __future__ import annotations
+
+import asyncio
+import logging
+import os
+import signal
+import threading
+from dataclasses import dataclass
+from typing import Optional
+
+import rclpy
+from rclpy.node import Node
+from ros2_medkit_msgs.srv import ReportFault
+from std_msgs.msg import String
+
+from asyncua import Client, ua
+
+LOGGER = logging.getLogger("opcua_bridge")
+
+OPCUA_ENDPOINT = os.environ.get(
+    "OPCUA_ENDPOINT",
+    "opc.tcp://plc-sim:4840/manymove_plc/server",
+)
+SOURCE_ID = os.environ.get("BRIDGE_SOURCE_ID", "/plc/sensor_io")
+REPORT_FAULT_SERVICE = os.environ.get(
+    "REPORT_FAULT_SERVICE", "/fault_manager/report_fault",
+)
+
+
+@dataclass
+class AlarmMapping:
+    """One PLC alarm -> medkit fault binding."""
+
+    condition_name: str          # OPC UA SourceName / ConditionName
+    fault_code: str              # medkit MANYMOVE_PLC_* code
+    severity: int                # medkit 0=INFO 1=WARN 2=ERROR 3=CRITICAL
+    description: str             # short operator-facing description
+
+
+# Canonical mapping. Keep in sync with:
+#  - docs/PLC_FAULT_CODES.md
+#  - demos/manymove_industrial/config/manymove_industrial_manifest.yaml
+#  - demos/manymove_industrial/plc_sim/plc_server.py
+ALARM_MAP: dict[str, AlarmMapping] = {
+    "PhotoeyeFlicker": AlarmMapping(
+        condition_name="PhotoeyeFlicker",
+        fault_code="MANYMOVE_PLC_PHOTOEYE_FLICKER",
+        severity=1,
+        description="Pick photoeye toggling above commissioning rate",
+    ),
+    "ConveyorOverspeed": AlarmMapping(
+        condition_name="ConveyorOverspeed",
+        fault_code="MANYMOVE_PLC_CONVEYOR_OVERSPEED",
+        severity=2,
+        description="Conveyor speed beyond commissioning envelope",
+    ),
+    "EstopEngaged": AlarmMapping(
+        condition_name="EstopEngaged",
+        fault_code="MANYMOVE_PLC_ESTOP_ENGAGED",
+        severity=3,
+        description="Line e-stop engaged",
+    ),
+}
+
+
+class BridgeNode(Node):
+    """ROS 2 node hosting the fault reporting client.
+
+    The async OPC UA work runs in a separate thread with its own event
+    loop; on each alarm event, it dispatches a fault report via
+    rclpy's executor by submitting a job onto the ROS thread.
+    """
+
+    def __init__(self) -> None:
+        # Place the node under /plc namespace so the medkit gateway's
+        # topic-discovery routes it under the conveyor-line area instead
+        # of the global / namespace.
+        super().__init__("sensor_io", namespace="/plc")
+        self.client = self.create_client(ReportFault, REPORT_FAULT_SERVICE)
+        self.source_id = SOURCE_ID
+        # Heartbeat publisher: makes the bridge node discoverable in the
+        # SOVD entity tree (topic-discovery requires at least one topic
+        # per node) and gives operators a simple liveness signal.
+        self.heartbeat_pub = self.create_publisher(String, "heartbeat", 10)
+        self._heartbeat_timer = self.create_timer(1.0, self._publish_heartbeat)
+        self._await_service()
+
+    def _publish_heartbeat(self) -> None:
+        msg = String()
+        msg.data = "opcua_bridge alive"
+        self.heartbeat_pub.publish(msg)
+
+    def _await_service(self) -> None:
+        while rclpy.ok() and not self.client.wait_for_service(timeout_sec=2.0):
+            self.get_logger().info(
+                f"waiting for service {REPORT_FAULT_SERVICE} ...",
+            )
+
+    def report_fault(
+        self, mapping: AlarmMapping, message: str, event_type: int,
+    ) -> None:
+        request = ReportFault.Request()
+        request.fault_code = mapping.fault_code
+        request.event_type = event_type  # 0=FAILED, 1=PASSED
+        request.severity = mapping.severity if event_type == 0 else 0
+        request.description = message
+        request.source_id = self.source_id
+
+        future = self.client.call_async(request)
+
+        def _done(fut) -> None:
+            try:
+                response = fut.result()
+                self.get_logger().info(
+                    f"reported {mapping.fault_code} event={event_type} "
+                    f"accepted={getattr(response, 'accepted', '?')}",
+                )
+            except Exception as exc:  # noqa: BLE001
+                self.get_logger().warning(
+                    f"report_fault call failed: {exc}",
+                )
+
+        future.add_done_callback(_done)
+
+
+class AlarmEventHandler:
+    """asyncua SubHandler. Translates AlarmConditionType events into
+    BridgeNode.report_fault dispatches. Loopback prevention: if the
+    SourceName begins with our own source_id, drop the event."""
+
+    def __init__(self, node: BridgeNode) -> None:
+        self.node = node
+
+    async def event_notification(self, event) -> None:
+        try:
+            source_name = getattr(event, "SourceName", None)
+            severity = getattr(event, "Severity", None)
+        except Exception:  # noqa: BLE001
+            LOGGER.warning("event missing standard fields: %s", event)
+            return
+
+        if source_name is None:
+            return
+        if source_name.startswith(self.node.source_id):
+            LOGGER.debug("ignoring loopback event from %s", source_name)
+            return
+
+        mapping = ALARM_MAP.get(source_name)
+        if mapping is None:
+            LOGGER.debug("no mapping for source_name=%s", source_name)
+            return
+
+        # Pull message text (LocalizedText.Text).
+        message_text = getattr(event, "Message", None)
+        message_str = mapping.description
+        if message_text is not None:
+            text = getattr(message_text, "Text", None)
+            if text:
+                message_str = text
+
+        # Severity 0 signals cleared/healed in our PLC convention.
+        event_type = 1 if severity == 0 else 0
+        if event_type == 1:
+            message_str = f"{mapping.description} cleared"
+        self.node.report_fault(mapping, message_str, event_type)
+
+
+async def opcua_loop(node: BridgeNode, stop_event: asyncio.Event) -> None:
+    handler = AlarmEventHandler(node)
+    # One-shot DNS diagnostic so future "name resolution failure" loops are
+    # debuggable without docker exec into the running container.
+    try:
+        import socket
+        from urllib.parse import urlparse
+
+        parsed = urlparse(OPCUA_ENDPOINT)
+        host = parsed.hostname or OPCUA_ENDPOINT
+        infos = socket.getaddrinfo(host, parsed.port or 4840)
+        LOGGER.info(
+            "DNS check: %s resolves to %s",
+            host,
+            ", ".join(sorted({i[4][0] for i in infos})),
+        )
+    except Exception as dns_exc:  # noqa: BLE001
+        LOGGER.warning("DNS check FAILED: %s", dns_exc)
+
+    while not stop_event.is_set():
+        try:
+            async with Client(OPCUA_ENDPOINT) as client:
+                LOGGER.info("connected to %s", OPCUA_ENDPOINT)
+                sub = await client.create_subscription(500, handler)
+                event_type = client.get_node(ua.ObjectIds.AlarmConditionType)
+                await sub.subscribe_events(client.nodes.server, event_type)
+                LOGGER.info("subscribed to AlarmConditionType events")
+                while not stop_event.is_set():
+                    await asyncio.sleep(0.5)
+        except (OSError, ua.UaError, asyncio.TimeoutError) as exc:
+            LOGGER.warning("OPC UA session error: %s, retrying in 2s", exc)
+            await asyncio.sleep(2.0)
+
+
+def main() -> None:
+    logging.basicConfig(
+        level=logging.INFO,
+        format="%(asctime)s %(levelname)s %(name)s %(message)s",
+    )
+
+    rclpy.init()
+    node = BridgeNode()
+
+    stop = asyncio.Event()
+
+    def _signal_handler() -> None:
+        stop.set()
+        rclpy.shutdown()
+
+    def _opcua_thread() -> None:
+        loop = asyncio.new_event_loop()
+        asyncio.set_event_loop(loop)
+        try:
+            loop.run_until_complete(opcua_loop(node, stop))
+        finally:
+            loop.close()
+
+    thread = threading.Thread(target=_opcua_thread, name="opcua-loop", daemon=True)
+    thread.start()
+
+    # rclpy.spin in main thread so service futures resolve.
+    try:
+        for sig in (signal.SIGINT, signal.SIGTERM):
+            signal.signal(sig, lambda *_: _signal_handler())
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        stop.set()
+        node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+        thread.join(timeout=3.0)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/demos/manymove_industrial/package.xml b/demos/manymove_industrial/package.xml
new file mode 100644
index 0000000..44d8f5a
--- /dev/null
+++ b/demos/manymove_industrial/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>manymove_industrial</name>
+  <version>0.1.0</version>
+  <description>
+    manymove + ros2_medkit integration demo: fault-aware BT manipulator
+    pipeline with planned OpenPLC + OPC UA tier 2 correlation.
+  </description>
+  <maintainer email="hello@selfpatch.ai">Selfpatch</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>ros2_medkit_fault_manager</exec_depend>
+  <exec_depend>ros2_medkit_gateway</exec_depend>
+  <exec_depend>ros2_medkit_diagnostic_bridge</exec_depend>
+  <exec_depend>ros2_medkit_graph_provider</exec_depend>
+  <exec_depend>manymove_cpp_trees</exec_depend>
+  <exec_depend>manymove_planner</exec_depend>
+  <exec_depend>manymove_object_manager</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/demos/manymove_industrial/plc_sim/Dockerfile b/demos/manymove_industrial/plc_sim/Dockerfile
new file mode 100644
index 0000000..ee738eb
--- /dev/null
+++ b/demos/manymove_industrial/plc_sim/Dockerfile
@@ -0,0 +1,23 @@
+FROM python:3.12-slim
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        curl \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /opt/plc_sim
+
+COPY requirements.txt ./
+RUN pip install --no-cache-dir -r requirements.txt
+
+COPY plc_server.py ./
+
+ENV PYTHONUNBUFFERED=1 \
+    PLC_OPCUA_ENDPOINT=opc.tcp://0.0.0.0:4840/manymove_plc/server \
+    PLC_ADMIN_PORT=8500
+
+EXPOSE 4840 8500
+
+HEALTHCHECK --interval=10s --timeout=3s --start-period=10s --retries=5 \
+    CMD curl -fsS http://localhost:8500/health >/dev/null || exit 1
+
+CMD ["python", "-u", "plc_server.py"]
diff --git a/demos/manymove_industrial/plc_sim/plc_server.py b/demos/manymove_industrial/plc_sim/plc_server.py
new file mode 100644
index 0000000..acbc8c7
--- /dev/null
+++ b/demos/manymove_industrial/plc_sim/plc_server.py
@@ -0,0 +1,230 @@
+"""OPC UA server that emulates an industrial PLC for the manymove_industrial demo.
+
+The control logic, tag namespace and alarm conditions are designed to be
+swappable with a real OpenPLC v3 + ST program once the IEC 61131-3 build
+pipeline is in place. From a bridge-client perspective the OPC UA surface
+is identical: standard AlarmConditionType events on namespace 2.
+
+Three alarm conditions are exposed:
+ - photoeye_flicker  : WARN  - intermittent pick photoeye, precursor fault
+ - conveyor_overspeed: ERROR - motor speed beyond commissioning envelope
+ - estop_engaged     : CRITICAL - line e-stop pressed
+
+External tags can be poked via a small admin endpoint so the demo
+orchestrator (record_full.sh) can trigger faults at known timestamps
+without going through the OPC UA write path.
+"""
+
+from __future__ import annotations
+
+import asyncio
+import logging
+import os
+import signal
+from typing import Optional
+
+from aiohttp import web
+from asyncua import Server, ua
+from asyncua.common.events import Event
+
+LOGGER = logging.getLogger("plc_sim")
+
+ENDPOINT = os.environ.get("PLC_OPCUA_ENDPOINT", "opc.tcp://0.0.0.0:4840/manymove_plc/server")
+ADMIN_PORT = int(os.environ.get("PLC_ADMIN_PORT", "8500"))
+APP_URI = "urn:selfpatch:manymove_industrial:plc_sim"
+
+
+class PLCSimulator:
+    """Holds the OPC UA server, tags, alarm conditions and admin endpoint."""
+
+    def __init__(self) -> None:
+        self.server = Server()
+        self.alarm_nodes: dict[str, "AlarmHandle"] = {}
+
+    async def setup(self) -> None:
+        await self.server.init()
+        self.server.set_endpoint(ENDPOINT)
+        self.server.set_application_uri(APP_URI)
+        self.server.set_server_name("manymove_industrial PLC sim")
+
+        # Namespaces: 0 = OPC standard, 1 = local URI, 2 = our PLC tags.
+        self.ns_plc = await self.server.register_namespace(APP_URI)
+        LOGGER.info("registered PLC namespace idx=%s", self.ns_plc)
+
+        objects = self.server.nodes.objects
+        plc_folder = await objects.add_folder(self.ns_plc, "PLC")
+
+        # Process tags (analog + digital, similar to ST %IX/%QX/%MW).
+        self.tag_photoeye_pick = await plc_folder.add_variable(
+            self.ns_plc, "photoeye_pick", False, ua.VariantType.Boolean,
+        )
+        self.tag_photoeye_drop = await plc_folder.add_variable(
+            self.ns_plc, "photoeye_drop", False, ua.VariantType.Boolean,
+        )
+        self.tag_conveyor_speed_rpm = await plc_folder.add_variable(
+            self.ns_plc, "conveyor_speed_rpm", 0.0, ua.VariantType.Double,
+        )
+        self.tag_conveyor_motor = await plc_folder.add_variable(
+            self.ns_plc, "conveyor_motor", True, ua.VariantType.Boolean,
+        )
+        self.tag_estop = await plc_folder.add_variable(
+            self.ns_plc, "estop", False, ua.VariantType.Boolean,
+        )
+        for tag in (
+            self.tag_photoeye_pick,
+            self.tag_photoeye_drop,
+            self.tag_conveyor_speed_rpm,
+            self.tag_conveyor_motor,
+            self.tag_estop,
+        ):
+            await tag.set_writable()
+
+        # Alarm conditions (OPC UA Part 9 AlarmConditionType). Source MUST
+        # be an Object node (supports EventNotifier attribute), not a
+        # Variable. Per OPC UA spec, the Server object is the canonical
+        # event emitter when no per-equipment Object exists.
+        server_node = self.server.get_node(ua.ObjectIds.Server)
+        self.alarm_nodes["photoeye_flicker"] = AlarmHandle(
+            server=self.server,
+            source=server_node,
+            event_type=ua.ObjectIds.AlarmConditionType,
+            severity=300,  # 1-1000, mid range
+            condition_name="PhotoeyeFlicker",
+            message="Pick photoeye toggling above acceptance rate",
+        )
+        self.alarm_nodes["conveyor_overspeed"] = AlarmHandle(
+            server=self.server,
+            source=server_node,
+            event_type=ua.ObjectIds.AlarmConditionType,
+            severity=600,
+            condition_name="ConveyorOverspeed",
+            message="Conveyor speed beyond commissioning envelope",
+        )
+        self.alarm_nodes["estop_engaged"] = AlarmHandle(
+            server=self.server,
+            source=server_node,
+            event_type=ua.ObjectIds.AlarmConditionType,
+            severity=900,
+            condition_name="EstopEngaged",
+            message="Line e-stop pressed",
+        )
+        for handle in self.alarm_nodes.values():
+            await handle.setup()
+
+    async def run(self) -> None:
+        async with self.server:
+            LOGGER.info("OPC UA server up at %s", ENDPOINT)
+            admin_runner = await self._start_admin_endpoint()
+            try:
+                await asyncio.Event().wait()
+            finally:
+                await admin_runner.cleanup()
+
+    async def _start_admin_endpoint(self) -> web.AppRunner:
+        """Tiny HTTP control surface so external orchestrators (record_full.sh,
+        smoke tests, container_scripts) can trigger alarms without speaking
+        OPC UA themselves."""
+        app = web.Application()
+        app.router.add_post("/alarm/{name}/raise", self._handle_raise)
+        app.router.add_post("/alarm/{name}/clear", self._handle_clear)
+        app.router.add_get("/health", lambda _: web.json_response({"ok": True}))
+        runner = web.AppRunner(app)
+        await runner.setup()
+        site = web.TCPSite(runner, "0.0.0.0", ADMIN_PORT)
+        await site.start()
+        LOGGER.info("admin endpoint up at http://0.0.0.0:%s", ADMIN_PORT)
+        return runner
+
+    async def _handle_raise(self, request: web.Request) -> web.Response:
+        name = request.match_info["name"]
+        handle = self.alarm_nodes.get(name)
+        if handle is None:
+            return web.json_response({"error": f"unknown alarm {name}"}, status=404)
+        body = await request.json() if request.body_exists else {}
+        message = body.get("message")
+        await handle.raise_alarm(message=message)
+        LOGGER.info("admin raised alarm: %s", name)
+        return web.json_response({"ok": True, "alarm": name, "state": "active"})
+
+    async def _handle_clear(self, request: web.Request) -> web.Response:
+        name = request.match_info["name"]
+        handle = self.alarm_nodes.get(name)
+        if handle is None:
+            return web.json_response({"error": f"unknown alarm {name}"}, status=404)
+        await handle.clear_alarm()
+        LOGGER.info("admin cleared alarm: %s", name)
+        return web.json_response({"ok": True, "alarm": name, "state": "cleared"})
+
+
+class AlarmHandle:
+    """Manages one AlarmConditionType lifecycle (active / cleared)."""
+
+    def __init__(
+        self,
+        server: Server,
+        source,
+        event_type: int,
+        severity: int,
+        condition_name: str,
+        message: str,
+    ) -> None:
+        self.server = server
+        self.source = source
+        self.event_type = event_type
+        self.severity = severity
+        self.condition_name = condition_name
+        self.default_message = message
+        self.generator: Optional[Event] = None
+        self.active = False
+
+    async def setup(self) -> None:
+        self.generator = await self.server.get_event_generator(self.event_type, self.source)
+        self.generator.event.SourceName = self.condition_name
+        self.generator.event.Severity = self.severity
+        self.generator.event.Message = ua.LocalizedText(self.default_message)
+
+    async def raise_alarm(self, message: Optional[str] = None) -> None:
+        if self.generator is None:
+            raise RuntimeError("alarm not initialised")
+        if message:
+            self.generator.event.Message = ua.LocalizedText(message)
+        else:
+            self.generator.event.Message = ua.LocalizedText(self.default_message)
+        await self.generator.trigger()
+        self.active = True
+
+    async def clear_alarm(self) -> None:
+        if self.generator is None:
+            return
+        self.generator.event.Message = ua.LocalizedText(
+            f"{self.default_message} cleared",
+        )
+        # Severity 0 signals cleared/healed in our mapping convention.
+        prev_severity = self.generator.event.Severity
+        self.generator.event.Severity = 0
+        await self.generator.trigger()
+        self.generator.event.Severity = prev_severity
+        self.active = False
+
+
+async def main() -> None:
+    logging.basicConfig(level=logging.INFO, format="%(asctime)s %(levelname)s %(name)s %(message)s")
+    sim = PLCSimulator()
+    await sim.setup()
+
+    stop = asyncio.Event()
+    loop = asyncio.get_running_loop()
+    for sig in (signal.SIGINT, signal.SIGTERM):
+        loop.add_signal_handler(sig, stop.set)
+
+    server_task = asyncio.create_task(sim.run())
+    await stop.wait()
+    server_task.cancel()
+    try:
+        await server_task
+    except asyncio.CancelledError:
+        pass
+
+
+if __name__ == "__main__":
+    asyncio.run(main())
diff --git a/demos/manymove_industrial/plc_sim/requirements.txt b/demos/manymove_industrial/plc_sim/requirements.txt
new file mode 100644
index 0000000..a4b81f3
--- /dev/null
+++ b/demos/manymove_industrial/plc_sim/requirements.txt
@@ -0,0 +1,2 @@
+asyncua==1.1.5
+aiohttp==3.9.5
diff --git a/demos/manymove_industrial/run-demo.sh b/demos/manymove_industrial/run-demo.sh
new file mode 100755
index 0000000..2d913a7
--- /dev/null
+++ b/demos/manymove_industrial/run-demo.sh
@@ -0,0 +1,63 @@
+#!/bin/bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+PROFILE="cpu"
+NO_CACHE=0
+
+while [ $# -gt 0 ]; do
+  case "$1" in
+    --ci)        PROFILE="ci"; shift ;;
+    --no-cache)  NO_CACHE=1; shift ;;
+    -h|--help)
+      cat <<EOF
+manymove_industrial demo
+
+Usage:
+  $0 [--ci] [--no-cache]
+
+  --ci         Run the headless CI profile (no web UI).
+  --no-cache   Force docker compose build --no-cache.
+EOF
+      exit 0
+      ;;
+    *) echo "unknown arg: $1"; exit 1 ;;
+  esac
+done
+
+if ! command -v docker >/dev/null 2>&1; then
+  echo "docker is required" >&2
+  exit 1
+fi
+
+# Allow X11 access from the container so RViz / Groot / manymove HMI render
+# on the host display when running the cpu profile.
+if [ "$PROFILE" = "cpu" ] && command -v xhost >/dev/null 2>&1; then
+  xhost +local:root >/dev/null 2>&1 || true
+fi
+
+if [ "$NO_CACHE" = "1" ]; then
+  docker compose --profile "$PROFILE" build --no-cache
+fi
+
+docker compose --profile "$PROFILE" up -d --build
+
+cat <<EOF
+
+Started manymove_industrial (profile: $PROFILE).
+
+  Gateway:  http://localhost:8080/api/v1/health
+  Web UI:   http://localhost:3000  (cpu profile only)
+
+Live BT view (Groot, in the running container):
+  docker compose exec manymove-sim bash -lc "source install/setup.bash && src/Groot/build/Groot"
+
+Inject scripts (also runnable from the medkit Web UI):
+  docker compose exec manymove-sim bash -lc "/var/lib/ros2_medkit/scripts/manymove-planning/inject-collision/script.bash"
+
+Other helpers:
+  docker compose --profile $PROFILE logs -f manymove-sim
+  ./check-demo.sh
+  ./stop-demo.sh
+EOF
diff --git a/demos/manymove_industrial/stop-demo.sh b/demos/manymove_industrial/stop-demo.sh
new file mode 100755
index 0000000..8076f55
--- /dev/null
+++ b/demos/manymove_industrial/stop-demo.sh
@@ -0,0 +1,32 @@
+#!/bin/bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+PROFILE="cpu"
+VOLUMES=0
+
+while [ $# -gt 0 ]; do
+  case "$1" in
+    --ci)       PROFILE="ci"; shift ;;
+    --volumes)  VOLUMES=1; shift ;;
+    -h|--help)
+      cat <<EOF
+Stop manymove_industrial.
+
+Usage: $0 [--ci] [--volumes]
+
+  --ci        Tear down the CI profile.
+  --volumes   Also remove anonymous volumes.
+EOF
+      exit 0
+      ;;
+    *) echo "unknown arg: $1"; exit 1 ;;
+  esac
+done
+
+if [ "$VOLUMES" = "1" ]; then
+  docker compose --profile "$PROFILE" down -v
+else
+  docker compose --profile "$PROFILE" down
+fi
diff --git a/tests/smoke_test_manymove_industrial.sh b/tests/smoke_test_manymove_industrial.sh
new file mode 100755
index 0000000..5b23df7
--- /dev/null
+++ b/tests/smoke_test_manymove_industrial.sh
@@ -0,0 +1,121 @@
+#!/bin/bash
+# Smoke test for the manymove_industrial demo (CI profile).
+
+set -euo pipefail
+
+GATEWAY_URL="${GATEWAY_URL:-http://localhost:8080}"
+API_BASE="${GATEWAY_URL}/api/v1"
+
+cd "$(dirname "$0")/.."
+
+# shellcheck disable=SC1091
+source ./tests/smoke_lib.sh
+
+wait_for_gateway 90
+
+section "Manifest discovery"
+if api_get "/apps"; then
+    if echo "$RESPONSE" | items_contain_id "bt-client-xarm7"; then
+        pass "bt-client-xarm7 declared in apps"
+    else
+        fail "bt-client-xarm7 missing from apps list"
+    fi
+
+    if echo "$RESPONSE" | items_contain_id "fault-manager-app"; then
+        pass "fault-manager-app declared in apps"
+    else
+        fail "fault-manager-app missing from apps list"
+    fi
+fi
+
+section "Script bindings"
+# Each script execution endpoint should resolve (proves manifest component
+# id matches the container_scripts directory layout). We do not assert on
+# BT-emitted faults here: BT-side fault emission requires an active move
+# trajectory, and the CI fake-hardware launch does not auto-start moves.
+# Real BT round-trip is covered by record_full.sh demo runs.
+EXEC_BODY='{"execution_type": "now"}'
+for script in inject-collision restore-normal; do
+    if curl -fsS -X POST -H "Content-Type: application/json" -d "$EXEC_BODY" \
+        "$API_BASE/components/manymove-planning/scripts/$script/executions" >/dev/null; then
+        pass "$script script accepted by gateway"
+    else
+        fail "gateway rejected $script script execution"
+    fi
+done
+
+section "Medkit REST -> FaultManager round-trip"
+# arm-self-test issues a FAILED + PASSED pair directly via the FaultManager
+# service. We only assert the script is accepted by the gateway; the
+# fault visibility is intentionally not asserted because the test uses
+# severity 0 (INFO) which does not pass the FaultManager debounce
+# threshold, and even when it did the FAILED -> PASSED pair clears the
+# fault from the active list within the smoke poll window.
+# The full REST -> FaultManager round-trip is covered by the PLC bridge
+# section below (real fault from a real source, severity 1 WARN).
+if curl -fsS -X POST -H "Content-Type: application/json" -d "$EXEC_BODY" \
+    "$API_BASE/components/manymove-planning/scripts/arm-self-test/executions" >/dev/null; then
+    pass "arm-self-test script accepted by gateway"
+else
+    fail "gateway rejected arm-self-test script execution"
+fi
+
+section "PLC bridge: cross-source fault aggregation"
+# Conveyor-line scripts trigger PLC AlarmConditionType events on the
+# plc-sim OPC UA server; opcua_bridge subscribes and forwards them as
+# MANYMOVE_PLC_* faults with source_id=/plc/sensor_io.
+
+# Manifest must declare the conveyor-line component (the container_scripts
+# directory + manifest component id must match for the gateway to expose
+# the script endpoints).
+if api_get "/components"; then
+    if echo "$RESPONSE" | items_contain_id "openplc"; then
+        pass "openplc component declared in components"
+    else
+        fail "openplc component missing from components list"
+    fi
+    if echo "$RESPONSE" | items_contain_id "opcua-bridge"; then
+        pass "opcua-bridge component declared in components"
+    else
+        fail "opcua-bridge component missing from components list"
+    fi
+fi
+
+# Photoeye flicker injection -> MANYMOVE_PLC_PHOTOEYE_FLICKER (WARN)
+if curl -fsS -X POST -H "Content-Type: application/json" -d "$EXEC_BODY" \
+    "$API_BASE/components/conveyor-line/scripts/inject-photoeye-flicker/executions" >/dev/null; then
+    pass "inject-photoeye-flicker script accepted by gateway"
+else
+    fail "gateway rejected inject-photoeye-flicker script execution"
+fi
+
+if poll_until "/faults" \
+    '.items[] | select(.fault_code == "MANYMOVE_PLC_PHOTOEYE_FLICKER")' 30; then
+    pass "PLC photoeye flicker fault arrived via opcua_bridge"
+else
+    fail "PLC photoeye flicker fault did not arrive via opcua_bridge"
+fi
+
+# Clear PLC alarms -> PASSED events -> healed faults
+if curl -fsS -X POST -H "Content-Type: application/json" -d "$EXEC_BODY" \
+    "$API_BASE/components/conveyor-line/scripts/restore-line/executions" >/dev/null; then
+    pass "restore-line script accepted by gateway"
+else
+    fail "gateway rejected restore-line script execution"
+fi
+
+if poll_until "/faults?statuses=HEALED,PREPASSED" \
+    '.items[] | select(.fault_code == "MANYMOVE_PLC_PHOTOEYE_FLICKER")' 30; then
+    pass "PLC photoeye flicker fault healed via opcua_bridge"
+else
+    fail "PLC photoeye flicker fault did not heal after restore-line"
+fi
+
+# Final summary
+echo ""
+if [ "$FAIL_COUNT" -gt 0 ]; then
+    echo -e "${RED}Failed: $FAIL_COUNT${NC} (passed: $PASS_COUNT)"
+    echo -e "Failed tests:$FAILED_TESTS"
+    exit 1
+fi
+echo -e "${GREEN}All $PASS_COUNT smoke tests passed${NC}"