feat: update all demos to gateway v0.4.0 with plugins

README.md

@@ -33,7 +33,7 @@ to complete mobile robot integration:
 Both demos support:
 
 - REST API access via SOVD protocol
-- Web UI for visualization ([sovd_web_ui](https://github.com/selfpatch/sovd_web_ui))
+- Web UI for visualization ([ros2_medkit_web_ui](https://github.com/selfpatch/ros2_medkit_web_ui))
 - Fault injection and monitoring
 - Docker deployment for easy setup
 
@@ -189,7 +189,7 @@ CI runs all 3 demos in parallel - each job builds the Docker image, starts the c
 ## Related Projects
 
 - [ros2_medkit](https://github.com/selfpatch/ros2_medkit) — Core diagnostics library with SOVD-compliant gateway
-- [sovd_web_ui](https://github.com/selfpatch/sovd_web_ui) — Web-based visualization and control interface
+- [ros2_medkit_web_ui](https://github.com/selfpatch/ros2_medkit_web_ui) — Web-based visualization and control interface
 - [ros2_medkit_mcp](https://github.com/selfpatch/ros2_medkit_mcp) — MCP server for LLM integration
 - [ros2_medkit documentation](https://selfpatch.github.io/ros2_medkit/) — Full documentation and API reference
 

demos/moveit_pick_place/Dockerfile

@@ -31,6 +31,7 @@ RUN apt-get update && apt-get install -y \
     libcpp-httplib-dev \
     ros-jazzy-rosbag2-storage-mcap \
     ros-jazzy-foxglove-bridge \
+    libsystemd-dev \
     sqlite3 libsqlite3-dev git curl \
     && rm -rf /var/lib/apt/lists/*
 
@@ -41,13 +42,18 @@ RUN mkdir -p /var/lib/ros2_medkit/rosbags
 ARG ROS2_MEDKIT_REF=main
 WORKDIR ${COLCON_WS}/src
 RUN git clone --depth 1 --branch ${ROS2_MEDKIT_REF} https://github.com/selfpatch/ros2_medkit.git && \
+    mv ros2_medkit/src/ros2_medkit_cmake . && \
     mv ros2_medkit/src/ros2_medkit_gateway \
        ros2_medkit/src/ros2_medkit_msgs \
        ros2_medkit/src/ros2_medkit_serialization \
        ros2_medkit/src/ros2_medkit_fault_manager \
        ros2_medkit/src/ros2_medkit_fault_reporter \
-       ros2_medkit/src/ros2_medkit_diagnostic_bridge \
-       ros2_medkit/src/ros2_medkit_cmake . && \
+       ros2_medkit/src/ros2_medkit_diagnostic_bridge . && \
+    mv ros2_medkit/src/ros2_medkit_plugins/ros2_medkit_graph_provider . && \
+    mv ros2_medkit/src/ros2_medkit_discovery_plugins/ros2_medkit_beacon_common . && \
+    mv ros2_medkit/src/ros2_medkit_discovery_plugins/ros2_medkit_topic_beacon . && \
+    mv ros2_medkit/src/ros2_medkit_discovery_plugins/ros2_medkit_param_beacon . && \
+    mv ros2_medkit/src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection . && \
     rm -rf ros2_medkit
 
 # Copy demo package from local context

demos/moveit_pick_place/README.md

@@ -40,7 +40,7 @@ That's it! The script will:
 1. Build the Docker image (first run: ~15-20 min, ~7 GB)
 2. Set up X11 forwarding for Gazebo GUI
 3. Launch Panda robot in factory world + MoveIt 2 + ros2_medkit gateway
-4. Launch sovd_web_ui at http://localhost:3000
+4. Launch ros2_medkit_web_ui at http://localhost:3000
 
 **REST API:** http://localhost:8080/api/v1/
 **Web UI:** http://localhost:3000/
@@ -120,7 +120,7 @@ docker exec -it moveit_medkit_demo bash      # Shell into container
                                       │
                         ┌─────────────┼─────────────┐
                         │             │             │
-                   sovd_web_ui    curl/httpie    MCP Server
+                   ros2_medkit_web_ui    curl/httpie    MCP Server
                     :3000                        (LLM tools)
 ```
 
@@ -300,7 +300,7 @@ curl http://localhost:8080/api/v1/faults | jq '.items[] | {fault_code, severity_
 
 ## Web UI
 
-The sovd_web_ui container starts automatically at **http://localhost:3000**.
+The ros2_medkit_web_ui container starts automatically at **http://localhost:3000**.
 
 Connect it to the gateway at `http://localhost:8080` to browse:
 - Entity tree (Areas → Components → Apps)

demos/moveit_pick_place/config/medkit_params.yaml

@@ -26,6 +26,9 @@ diagnostics:
         runtime:
           create_synthetic_components: false  # Manifest defines components
 
+      # Plugin configuration (set by launch file when .so paths are resolved)
+      plugins: [""]
+
 # Fault Manager configuration (runs in root namespace)
 fault_manager:
   ros__parameters:

demos/moveit_pick_place/docker-compose.yml

@@ -79,9 +79,9 @@ services:
                source /root/demo_ws/install/setup.bash &&
                ros2 launch moveit_medkit_demo demo.launch.py headless:=true"
 
-  # SOVD Web UI — pre-built from GHCR
-  sovd-web-ui:
-    image: ghcr.io/selfpatch/sovd_web_ui:latest
-    container_name: sovd_web_ui
+  # Web UI - pre-built from GHCR
+  medkit-web-ui:
+    image: ghcr.io/selfpatch/ros2_medkit_web_ui:latest
+    container_name: ros2_medkit_web_ui
     ports:
       - "3000:80"

demos/moveit_pick_place/launch/demo.launch.py

@@ -11,7 +11,9 @@
 
 import os
 
+from ament_index_python.packages import get_package_prefix
 from ament_index_python.packages import get_package_share_directory
+from ament_index_python.packages import PackageNotFoundError
 from launch import LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
@@ -24,6 +26,18 @@
 from launch_ros.actions import Node
 
 
+def _resolve_plugin_path(package_name, lib_name):
+    """Resolve a gateway plugin .so path, returning empty string if not found."""
+    try:
+        prefix = get_package_prefix(package_name)
+        path = os.path.join(prefix, 'lib', package_name, f'lib{lib_name}.so')
+        if os.path.isfile(path):
+            return path
+    except PackageNotFoundError:
+        pass
+    return ''
+
+
 def generate_launch_description():
     # Get package share directories
     demo_pkg_dir = get_package_share_directory("moveit_medkit_demo")
@@ -35,6 +49,23 @@ def generate_launch_description():
     medkit_params_file = os.path.join(demo_pkg_dir, "config", "medkit_params.yaml")
     manifest_file = os.path.join(demo_pkg_dir, "config", "panda_manifest.yaml")
 
+    # Resolve plugin paths
+    graph_provider_path = _resolve_plugin_path(
+        'ros2_medkit_graph_provider', 'ros2_medkit_graph_provider_plugin')
+    procfs_plugin_path = _resolve_plugin_path(
+        'ros2_medkit_linux_introspection', 'procfs_introspection')
+
+    # Build plugin overrides - only include plugins that were found
+    plugin_overrides = {}
+    active_plugins = []
+    if graph_provider_path:
+        active_plugins.append('graph_provider')
+        plugin_overrides['plugins.graph_provider.path'] = graph_provider_path
+    if procfs_plugin_path:
+        active_plugins.append('procfs_introspection')
+        plugin_overrides['plugins.procfs_introspection.path'] = procfs_plugin_path
+    plugin_overrides['plugins'] = active_plugins
+
     # Launch configuration variables
     use_sim_time = LaunchConfiguration("use_sim_time", default="False")
     headless = LaunchConfiguration("headless", default="False")
@@ -128,6 +159,7 @@ def generate_launch_description():
                         "use_sim_time": use_sim_time,
                         "discovery.manifest_path": manifest_file,
                     },
+                    plugin_overrides,
                 ],
             ),
             # === Foxglove Bridge (WebSocket on port 8765) ===

demos/moveit_pick_place/launch/demo_gazebo.launch.py

@@ -21,7 +21,9 @@
 
 import xacro
 import yaml
+from ament_index_python.packages import get_package_prefix
 from ament_index_python.packages import get_package_share_directory
+from ament_index_python.packages import PackageNotFoundError
 from launch import LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
@@ -36,6 +38,18 @@
 from launch_ros.substitutions import FindPackageShare
 
 
+def _resolve_plugin_path(package_name, lib_name):
+    """Resolve a gateway plugin .so path, returning empty string if not found."""
+    try:
+        prefix = get_package_prefix(package_name)
+        path = os.path.join(prefix, 'lib', package_name, f'lib{lib_name}.so')
+        if os.path.isfile(path):
+            return path
+    except PackageNotFoundError:
+        pass
+    return ''
+
+
 def generate_launch_description():
     # ── Package directories ──────────────────────────────────────────
     demo_pkg_dir = get_package_share_directory("moveit_medkit_demo")
@@ -54,6 +68,23 @@ def generate_launch_description():
         demo_pkg_dir, "config", "panda_manifest.yaml"
     )
 
+    # Resolve plugin paths
+    graph_provider_path = _resolve_plugin_path(
+        'ros2_medkit_graph_provider', 'ros2_medkit_graph_provider_plugin')
+    procfs_plugin_path = _resolve_plugin_path(
+        'ros2_medkit_linux_introspection', 'procfs_introspection')
+
+    # Build plugin overrides - only include plugins that were found
+    plugin_overrides = {}
+    active_plugins = []
+    if graph_provider_path:
+        active_plugins.append('graph_provider')
+        plugin_overrides['plugins.graph_provider.path'] = graph_provider_path
+    if procfs_plugin_path:
+        active_plugins.append('procfs_introspection')
+        plugin_overrides['plugins.procfs_introspection.path'] = procfs_plugin_path
+    plugin_overrides['plugins'] = active_plugins
+
     # Factory world file path
     factory_world = os.path.join(
         demo_pkg_dir, "worlds", "factory.sdf"
@@ -472,6 +503,7 @@ def generate_launch_description():
                         "use_sim_time": True,
                         "discovery.manifest_path": manifest_file,
                     },
+                    plugin_overrides,
                 ],
             ),
             # ═════════════════════════════════════════════════════════

demos/sensor_diagnostics/Dockerfile

@@ -16,23 +16,30 @@ RUN apt-get update && apt-get install -y \
     python3-requests \
     nlohmann-json3-dev \
     libcpp-httplib-dev \
+    libsystemd-dev \
     sqlite3 \
     libsqlite3-dev \
     git \
     curl \
     jq \
     && rm -rf /var/lib/apt/lists/*
 
-# Clone ros2_medkit from GitHub (gateway + dependencies)
+# Clone ros2_medkit from GitHub (gateway + dependencies + plugins)
+ARG ROS2_MEDKIT_REF=main
 WORKDIR ${COLCON_WS}/src
-RUN git clone --depth 1 https://github.com/selfpatch/ros2_medkit.git && \
+RUN git clone --depth 1 --branch ${ROS2_MEDKIT_REF} https://github.com/selfpatch/ros2_medkit.git && \
+    mv ros2_medkit/src/ros2_medkit_cmake . && \
     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/ros2_medkit_cmake . && \
+    mv ros2_medkit/src/ros2_medkit_plugins/ros2_medkit_graph_provider . && \
+    mv ros2_medkit/src/ros2_medkit_discovery_plugins/ros2_medkit_beacon_common . && \
+    mv ros2_medkit/src/ros2_medkit_discovery_plugins/ros2_medkit_topic_beacon . && \
+    mv ros2_medkit/src/ros2_medkit_discovery_plugins/ros2_medkit_param_beacon . && \
+    mv ros2_medkit/src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection . && \
     rm -rf ros2_medkit
 
 # Copy demo package

demos/sensor_diagnostics/config/medkit_params.yaml

@@ -24,6 +24,9 @@ diagnostics:
         runtime:
           create_synthetic_components: false  # Manifest defines components
 
+      # Plugin configuration (set by launch file when .so paths are resolved)
+      plugins: [""]
+
 # Fault Manager configuration (runs in root namespace)
 fault_manager:
   ros__parameters:

demos/sensor_diagnostics/docker-compose.yml

@@ -20,9 +20,9 @@ services:
                ros2 launch sensor_diagnostics_demo demo.launch.py"
 
   # Web UI for visualization (optional)
-  sovd-web-ui:
-    image: ghcr.io/selfpatch/sovd_web_ui:latest
-    container_name: sovd_web_ui
+  medkit-web-ui:
+    image: ghcr.io/selfpatch/ros2_medkit_web_ui:latest
+    container_name: ros2_medkit_web_ui
     ports:
       - "3000:80"
     depends_on:

demos/sensor_diagnostics/launch/demo.launch.py

@@ -20,13 +20,27 @@
 
 import os
 
+from ament_index_python.packages import get_package_prefix
 from ament_index_python.packages import get_package_share_directory
+from ament_index_python.packages import PackageNotFoundError
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
+def _resolve_plugin_path(package_name, lib_name):
+    """Resolve a gateway plugin .so path, returning empty string if not found."""
+    try:
+        prefix = get_package_prefix(package_name)
+        path = os.path.join(prefix, 'lib', package_name, f'lib{lib_name}.so')
+        if os.path.isfile(path):
+            return path
+    except PackageNotFoundError:
+        pass
+    return ''
+
+
 def generate_launch_description():
     # Get package directory
     pkg_dir = get_package_share_directory("sensor_diagnostics_demo")
@@ -36,6 +50,23 @@ def generate_launch_description():
     sensor_params_file = os.path.join(pkg_dir, "config", "sensor_params.yaml")
     manifest_file = os.path.join(pkg_dir, "config", "sensor_manifest.yaml")
 
+    # Resolve plugin paths
+    graph_provider_path = _resolve_plugin_path(
+        'ros2_medkit_graph_provider', 'ros2_medkit_graph_provider_plugin')
+    procfs_plugin_path = _resolve_plugin_path(
+        'ros2_medkit_linux_introspection', 'procfs_introspection')
+
+    # Build plugin overrides - only include plugins that were found
+    plugin_overrides = {}
+    active_plugins = []
+    if graph_provider_path:
+        active_plugins.append('graph_provider')
+        plugin_overrides['plugins.graph_provider.path'] = graph_provider_path
+    if procfs_plugin_path:
+        active_plugins.append('procfs_introspection')
+        plugin_overrides['plugins.procfs_introspection.path'] = procfs_plugin_path
+    plugin_overrides['plugins'] = active_plugins
+
     # Launch arguments
     use_sim_time = LaunchConfiguration("use_sim_time", default="false")
 
@@ -120,6 +151,7 @@ def generate_launch_description():
                     medkit_params_file,
                     {"use_sim_time": use_sim_time},
                     {"discovery.manifest_path": manifest_file},
+                    plugin_overrides,
                 ],
             ),
             # ===== Fault Manager (at root namespace) =====

demos/turtlebot3_integration/Dockerfile

@@ -37,22 +37,29 @@ RUN apt-get update && apt-get install -y \
     python3-requests \
     nlohmann-json3-dev \
     libcpp-httplib-dev \
+    libsystemd-dev \
     sqlite3 \
     libsqlite3-dev \
     git \
     curl \
     && rm -rf /var/lib/apt/lists/*
 
-# Clone ros2_medkit from GitHub
+# Clone ros2_medkit from GitHub (gateway + dependencies + plugins)
+ARG ROS2_MEDKIT_REF=main
 WORKDIR ${COLCON_WS}/src
-RUN git clone --depth 1 https://github.com/selfpatch/ros2_medkit.git && \
+RUN git clone --depth 1 --branch ${ROS2_MEDKIT_REF} https://github.com/selfpatch/ros2_medkit.git && \
+    mv ros2_medkit/src/ros2_medkit_cmake . && \
     mv ros2_medkit/src/ros2_medkit_gateway . && \
     mv ros2_medkit/src/ros2_medkit_msgs . && \
     mv ros2_medkit/src/ros2_medkit_serialization . && \
     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/ros2_medkit_cmake . && \
+    mv ros2_medkit/src/ros2_medkit_plugins/ros2_medkit_graph_provider . && \
+    mv ros2_medkit/src/ros2_medkit_discovery_plugins/ros2_medkit_beacon_common . && \
+    mv ros2_medkit/src/ros2_medkit_discovery_plugins/ros2_medkit_topic_beacon . && \
+    mv ros2_medkit/src/ros2_medkit_discovery_plugins/ros2_medkit_param_beacon . && \
+    mv ros2_medkit/src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection . && \
     rm -rf ros2_medkit
 
 # Copy demo package from local context (this repo)
@@ -66,7 +73,7 @@ WORKDIR ${COLCON_WS}
 RUN bash -c "source /opt/ros/jazzy/setup.bash && \
     rosdep update && \
     rosdep install --from-paths src --ignore-src -r -y && \
-    colcon build --symlink-install"
+    colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF"
 
 # Setup environment
 RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \