feat: update all demos to gateway v0.4.0 with plugins#46
Merged
Conversation
- Add new packages to all 3 Dockerfiles: ros2_medkit_cmake, ros2_medkit_graph_provider, beacon plugins (topic, param, common), and linux introspection plugins (procfs, systemd, container) - Add libsystemd-dev dependency for systemd introspection plugin - Add ARG ROS2_MEDKIT_REF=main for pinnable builds (sensor, turtlebot) - Add -DBUILD_TESTING=OFF to turtlebot3 Dockerfile - Fix broken discovery params: discovery_mode -> discovery.mode, manifest_path -> discovery.manifest_path (nested namespace) - Configure graph_provider and procfs_introspection plugins in all demo launch files with dynamic path resolution - Rename web UI references: sovd_web_ui -> ros2_medkit_web_ui (Docker image, service name, container name, READMEs) Closes #40
bburda
force-pushed
the
feat/update-demos-v0.4.0
branch
from
77c40f8 to
c1ffc77
Compare
There was a problem hiding this comment.
Pull request overview
Updates the three ROS 2 demo stacks in this repo to align with ros2_medkit gateway v0.4.0, including the new nested discovery parameter namespace, plugin-based capabilities, and a Web UI image/name rename.
Changes:
- Add gateway plugin packages (graph provider + Linux introspection) to demo images and wire plugin paths via launch-time resolution.
- Update discovery configuration to the nested
discovery.*namespace and overridediscovery.manifest_pathfrom launch files. - Rename the Web UI image/service references from
sovd_web_uitoros2_medkit_web_uiacross compose files and READMEs.
Reviewed changes
Copilot reviewed 16 out of 16 changed files in this pull request and generated 8 comments.
Show a summary per file
| File | Description |
|---|---|
| demos/turtlebot3_integration/launch/demo.launch.py | Adds plugin path resolution + passes plugin overrides; updates manifest override to discovery.manifest_path. |
| demos/turtlebot3_integration/docker-compose.yml | Renames Web UI service/image/container name. |
| demos/turtlebot3_integration/config/medkit_params.yaml | Moves discovery params under discovery: and adds plugin parameter placeholders. |
| demos/turtlebot3_integration/README.md | Updates documentation references to the new Web UI name. |
| demos/turtlebot3_integration/Dockerfile | Adds plugin packages + libsystemd-dev, introduces pinnable ROS2_MEDKIT_REF, disables BUILD_TESTING. |
| demos/sensor_diagnostics/launch/demo.launch.py | Adds plugin path resolution + passes plugin overrides; updates manifest override to discovery.manifest_path. |
| demos/sensor_diagnostics/docker-compose.yml | Renames Web UI service/image/container name. |
| demos/sensor_diagnostics/config/medkit_params.yaml | Moves discovery params under discovery: and adds plugin parameter placeholders. |
| demos/sensor_diagnostics/Dockerfile | Adds plugin packages + libsystemd-dev, introduces pinnable ROS2_MEDKIT_REF. |
| demos/moveit_pick_place/launch/demo_gazebo.launch.py | Adds plugin path resolution + passes plugin overrides; updates manifest override to discovery.manifest_path. |
| demos/moveit_pick_place/launch/demo.launch.py | Adds plugin path resolution + passes plugin overrides; updates manifest override to discovery.manifest_path. |
| demos/moveit_pick_place/docker-compose.yml | Renames Web UI service/image/container name. |
| demos/moveit_pick_place/config/medkit_params.yaml | Moves discovery params under discovery: and adds plugin parameter placeholders. |
| demos/moveit_pick_place/README.md | Updates documentation references to the new Web UI name. |
| demos/moveit_pick_place/Dockerfile | Adds plugin packages + libsystemd-dev, adds ros2_medkit_cmake to workspace. |
| README.md | Updates related-project links to the renamed Web UI repo. |
💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.
- Default plugins to empty in YAML params (prevents loading with empty paths if launch resolution fails) - Always override plugins list from launch file (even when empty) Addresses PR review feedback.
mfaferek93
approved these changes
Mar 21, 2026
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Description
Update all 3 demos to gateway v0.4.0 with new packages, plugin support, and fixes.
Dockerfiles (all 3):
ros2_medkit_cmake,ros2_medkit_graph_provider, beacon plugins, linux introspection pluginslibsystemd-devfor systemd introspection pluginARG ROS2_MEDKIT_REF=mainfor pinnable builds (sensor, turtlebot)-DBUILD_TESTING=OFFto turtlebot3Config (all 3):
discovery_mode->discovery.mode,manifest_path->discovery.manifest_path(match current gateway nested namespace)graph_providerandprocfs_introspectionplugins with dynamic path resolution in launch filesWeb UI rename (all 3):
ghcr.io/selfpatch/sovd_web_ui->ghcr.io/selfpatch/ros2_medkit_web_uiRelated Issue
closes #40
Checklist