[#13] Add sensor diagnostics demo

.github/workflows/ci.yml

@@ -39,6 +39,11 @@ jobs:
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
 
+      - name: Build Sensor Diagnostics demo image
+        run: |
+          cd demos/sensor_diagnostics
+          docker build -t sensor-diagnostics-demo:test -f Dockerfile .
+
       - name: Build TurtleBot3 demo image
         run: |
           cd demos/turtlebot3_integration

README.md

@@ -17,7 +17,19 @@ progressing toward more advanced use cases.
 
 | Demo | Description | Status |
 |------|-------------|--------|
-| [TurtleBot3 Integration](demos/turtlebot3_integration/) | Basic ros2_medkit integration with TurtleBot3 and Nav2 | 🚧 In Progress |
+| [Sensor Diagnostics](demos/sensor_diagnostics/) | Lightweight sensor diagnostics demo (no Gazebo required) | ✅ Ready |
+| [TurtleBot3 Integration](demos/turtlebot3_integration/) | Full ros2_medkit integration with TurtleBot3 and Nav2 | 🚧 In Progress |
+
+### Quick Start (Sensor Diagnostics)
+
+The sensor diagnostics demo is the fastest way to try ros2_medkit:
+
+```bash
+cd demos/sensor_diagnostics
+docker compose up
+# Open http://localhost:3000 for the Web UI
+# Run ./run-demo.sh for an interactive walkthrough
+```
 
 ## Getting Started
 

demos/sensor_diagnostics/CMakeLists.txt

@@ -0,0 +1,86 @@
+cmake_minimum_required(VERSION 3.8)
+project(sensor_diagnostics_demo)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(diagnostic_msgs REQUIRED)
+find_package(rcl_interfaces REQUIRED)
+find_package(ros2_medkit_msgs REQUIRED)
+
+# LiDAR simulator node
+add_executable(lidar_sim_node src/lidar_sim_node.cpp)
+ament_target_dependencies(lidar_sim_node
+  rclcpp
+  sensor_msgs
+  diagnostic_msgs
+  rcl_interfaces
+)
+
+# IMU simulator node
+add_executable(imu_sim_node src/imu_sim_node.cpp)
+ament_target_dependencies(imu_sim_node
+  rclcpp
+  sensor_msgs
+  diagnostic_msgs
+)
+
+# GPS simulator node
+add_executable(gps_sim_node src/gps_sim_node.cpp)
+ament_target_dependencies(gps_sim_node
+  rclcpp
+  sensor_msgs
+  diagnostic_msgs
+)
+
+# Camera simulator node
+add_executable(camera_sim_node src/camera_sim_node.cpp)
+ament_target_dependencies(camera_sim_node
+  rclcpp
+  sensor_msgs
+  diagnostic_msgs
+  rcl_interfaces
+)
+
+# Anomaly detector node
+add_executable(anomaly_detector_node src/anomaly_detector_node.cpp)
+ament_target_dependencies(anomaly_detector_node
+  rclcpp
+  sensor_msgs
+  diagnostic_msgs
+  ros2_medkit_msgs
+)
+
+# Install executables
+install(TARGETS
+  lidar_sim_node
+  imu_sim_node
+  gps_sim_node
+  camera_sim_node
+  anomaly_detector_node
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install launch files
+install(DIRECTORY launch/
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
+# Install config files
+install(DIRECTORY config/
+  DESTINATION share/${PROJECT_NAME}/config
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

demos/sensor_diagnostics/Dockerfile

@@ -0,0 +1,63 @@
+# Sensor Diagnostics Demo
+# Lightweight ROS 2 image without Gazebo - fast build and startup
+# Image size: ~500MB vs ~4GB for TurtleBot3 demo
+# Startup time: ~5s vs ~60s
+
+FROM ros:jazzy-ros-base
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV ROS_DISTRO=jazzy
+ENV COLCON_WS=/root/demo_ws
+
+# Install minimal dependencies (no Gazebo, no simulation packages)
+RUN apt-get update && apt-get install -y \
+    ros-jazzy-ament-lint-auto \
+    ros-jazzy-ament-lint-common \
+    ros-jazzy-ament-cmake-gtest \
+    ros-jazzy-yaml-cpp-vendor \
+    ros-jazzy-example-interfaces \
+    python3-colcon-common-extensions \
+    python3-requests \
+    nlohmann-json3-dev \
+    libcpp-httplib-dev \
+    libsqlite3-dev \
+    git \
+    curl \
+    jq \
+    && rm -rf /var/lib/apt/lists/*
+
+# Clone ros2_medkit from GitHub (gateway + dependencies)
+WORKDIR ${COLCON_WS}/src
+RUN git clone --depth 1 --recurse-submodules https://github.com/selfpatch/ros2_medkit.git && \
+    mv ros2_medkit/src/ros2_medkit_gateway . && \
+    mv ros2_medkit/src/ros2_medkit_serialization . && \
+    mv ros2_medkit/src/ros2_medkit_msgs . && \
+    mv ros2_medkit/src/ros2_medkit_fault_manager . && \
+    mv ros2_medkit/src/ros2_medkit_fault_reporter . && \
+    mv ros2_medkit/src/ros2_medkit_diagnostic_bridge . && \
+    mv ros2_medkit/src/dynamic_message_introspection/dynmsg . && \
+    rm -rf ros2_medkit
+
+# Copy demo package
+COPY package.xml CMakeLists.txt ${COLCON_WS}/src/sensor_diagnostics_demo/
+COPY src/ ${COLCON_WS}/src/sensor_diagnostics_demo/src/
+COPY config/ ${COLCON_WS}/src/sensor_diagnostics_demo/config/
+COPY launch/ ${COLCON_WS}/src/sensor_diagnostics_demo/launch/
+
+# Build all packages (skip test dependencies that aren't in ros-base)
+WORKDIR ${COLCON_WS}
+RUN bash -c "source /opt/ros/jazzy/setup.bash && \
+    rosdep update && \
+    rosdep install --from-paths src --ignore-src -r -y \
+      --skip-keys='ament_cmake_clang_format ament_cmake_clang_tidy test_msgs example_interfaces sqlite3' && \
+    colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF"
+
+# Setup environment
+RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \
+    echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc
+
+# Expose gateway port
+EXPOSE 8080
+
+# Default command: launch the demo
+CMD ["bash", "-c", "source /opt/ros/jazzy/setup.bash && source /root/demo_ws/install/setup.bash && ros2 launch sensor_diagnostics_demo demo.launch.py"]