feat: multi-ECU aggregation demo with static peer and mDNS discovery

.github/workflows/ci.yml

@@ -116,3 +116,50 @@ jobs:
         if: always()
         working-directory: demos/moveit_pick_place
         run: docker compose --profile ci down
+
+  build-and-test-multi-ecu:
+    needs: lint
+    runs-on: ubuntu-24.04
+    steps:
+      - name: Show triggering source
+        if: github.event_name == 'repository_dispatch'
+        run: |
+          SHA="${{ github.event.client_payload.sha }}"
+          RUN_URL="${{ github.event.client_payload.run_url }}"
+          echo "## Triggered by ros2_medkit" >> "$GITHUB_STEP_SUMMARY"
+          echo "- Commit: \`${SHA:-unknown}\`" >> "$GITHUB_STEP_SUMMARY"
+          if [ -n "$RUN_URL" ]; then
+            echo "- Run: [View triggering run]($RUN_URL)" >> "$GITHUB_STEP_SUMMARY"
+          else
+            echo "- Run: (URL not provided)" >> "$GITHUB_STEP_SUMMARY"
+          fi
+
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Build and start multi-ECU demo
+        working-directory: demos/multi_ecu_aggregation
+        run: docker compose --profile ci up -d --build perception-ecu-ci planning-ecu-ci actuation-ecu-ci
+
+      - name: Run smoke tests
+        run: ./tests/smoke_test_multi_ecu.sh
+
+      - name: Show perception ECU logs on failure
+        if: failure()
+        working-directory: demos/multi_ecu_aggregation
+        run: docker compose --profile ci logs perception-ecu-ci --tail=200
+
+      - name: Show planning ECU logs on failure
+        if: failure()
+        working-directory: demos/multi_ecu_aggregation
+        run: docker compose --profile ci logs planning-ecu-ci --tail=200
+
+      - name: Show actuation ECU logs on failure
+        if: failure()
+        working-directory: demos/multi_ecu_aggregation
+        run: docker compose --profile ci logs actuation-ecu-ci --tail=200
+
+      - name: Teardown
+        if: always()
+        working-directory: demos/multi_ecu_aggregation
+        run: docker compose --profile ci down

.gitignore

@@ -38,3 +38,4 @@ docker-compose.local.yml
 .env
 .venv/
 venv/
+demos/multi_ecu_aggregation/launch/__pycache__/

README.md

@@ -14,11 +14,12 @@ This repository contains example integrations and demos that show how ros2_medki
 can be used to add SOVD-compliant diagnostics and fault management to ROS 2-based robots and systems.
 
 Each demo builds on real-world scenarios, progressing from simple sensor monitoring
-to complete mobile robot integration:
+to complete mobile robot integration and multi-ECU peer aggregation:
 
-- **Sensor Diagnostics** — Lightweight demo focusing on data monitoring and fault injection
-- **TurtleBot3 Integration** — Full-featured demo with Nav2 navigation, showing entity hierarchy and real-time control
-- **MoveIt Pick-and-Place** — Panda 7-DOF arm manipulation with MoveIt 2, fault monitoring for planning, controllers, and joint limits
+- **Sensor Diagnostics** - Lightweight demo focusing on data monitoring and fault injection
+- **TurtleBot3 Integration** - Full-featured demo with Nav2 navigation, showing entity hierarchy and real-time control
+- **MoveIt Pick-and-Place** - Panda 7-DOF arm manipulation with MoveIt 2, fault monitoring for planning, controllers, and joint limits
+- **Multi-ECU Aggregation** - Peer aggregation with 3 ECUs (perception, planning, actuation), mDNS discovery, and cross-ECU functions
 
 **Key Capabilities Demonstrated:**
 
@@ -29,8 +30,11 @@ to complete mobile robot integration:
 - ✅ Fault management and injection
 - ✅ Manifest-based entity discovery
 - ✅ Legacy diagnostics bridge support
+- ✅ Multi-ECU peer aggregation
+- ✅ mDNS-based ECU discovery
+- ✅ Cross-ECU function grouping
 
-Both demos support:
+All demos support:
 
 - REST API access via SOVD protocol
 - Web UI for visualization ([ros2_medkit_web_ui](https://github.com/selfpatch/ros2_medkit_web_ui))
@@ -44,6 +48,7 @@ Both demos support:
 | [Sensor Diagnostics](demos/sensor_diagnostics/) | Lightweight sensor diagnostics demo (no Gazebo required) | Data monitoring, fault injection, dual fault reporting paths | ✅ Ready |
 | [TurtleBot3 Integration](demos/turtlebot3_integration/) | Full ros2_medkit integration with TurtleBot3 and Nav2 | SOVD-compliant API, manifest-based discovery, fault management | ✅ Ready |
 | [MoveIt Pick-and-Place](demos/moveit_pick_place/) | Panda 7-DOF arm with MoveIt 2 manipulation and ros2_medkit | Planning fault detection, controller monitoring, joint limits | ✅ Ready |
+| [Multi-ECU Aggregation](demos/multi_ecu_aggregation/) | Multi-ECU peer aggregation with 3 ECUs (perception, planning, actuation), mDNS discovery, cross-ECU functions | Peer aggregation, mDNS discovery, cross-ECU functions | ✅ Ready |
 
 ### Quick Start
 
@@ -123,6 +128,28 @@ cd demos/moveit_pick_place
 - 5 fault injection scenarios with one-click scripts
 - SOVD-compliant REST API with rich entity hierarchy (4 areas, 7 components)
 
+#### Multi-ECU Aggregation Demo (Advanced - Peer Aggregation)
+
+Multi-ECU demo with 3 independent ECUs aggregated via mDNS discovery:
+
+```bash
+cd demos/multi_ecu_aggregation
+./run-demo.sh
+./check-demo.sh  # Verify all 3 ECUs are connected
+# Gateway at http://localhost:8080, Web UI at http://localhost:3000
+
+# To stop
+./stop-demo.sh
+```
+
+**Features:**
+
+- 3 independent ECUs (perception, planning, actuation) each running ros2_medkit
+- Peer aggregation via mDNS-based automatic ECU discovery
+- Cross-ECU function grouping across the full system
+- Unified SOVD-compliant REST API spanning all ECUs
+- Web UI for browsing aggregated entity hierarchy
+
 ## Getting Started
 
 ### Prerequisites
@@ -144,7 +171,7 @@ Each demo has its own README with specific instructions. See above Quick Start,
 or follow the detailed README in each demo directory:
 
 ```bash
-cd demos/sensor_diagnostics  # or turtlebot3_integration
+cd demos/sensor_diagnostics  # or turtlebot3_integration, moveit_pick_place, multi_ecu_aggregation
 # Follow the README.md in that directory
 ```
 
@@ -184,7 +211,7 @@ Each demo has automated smoke tests that verify the gateway starts and the REST
 ./tests/smoke_test_moveit.sh       # MoveIt pick-and-place (discovery, data, operations, scripts, triggers, logs)
 ```
 
-CI runs all 3 demos in parallel - each job builds the Docker image, starts the container, and runs the smoke tests against it. See [CI workflow](.github/workflows/ci.yml).
+CI runs all 4 demos in parallel - each job builds the Docker image, starts the container, and runs the smoke tests against it. See [CI workflow](.github/workflows/ci.yml).
 
 ## Related Projects
 

demos/multi_ecu_aggregation/CMakeLists.txt

@@ -0,0 +1,68 @@
+cmake_minimum_required(VERSION 3.8)
+project(multi_ecu_demo)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+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(nav_msgs REQUIRED)
+find_package(vision_msgs REQUIRED)
+find_package(diagnostic_msgs REQUIRED)
+find_package(rcl_interfaces REQUIRED)
+find_package(ros2_medkit_msgs REQUIRED)
+
+# --- Perception ECU nodes ---
+add_executable(lidar_driver src/perception/lidar_driver.cpp)
+ament_target_dependencies(lidar_driver rclcpp sensor_msgs diagnostic_msgs rcl_interfaces)
+
+add_executable(camera_driver src/perception/camera_driver.cpp)
+ament_target_dependencies(camera_driver rclcpp sensor_msgs diagnostic_msgs rcl_interfaces)
+
+add_executable(point_cloud_filter src/perception/point_cloud_filter.cpp)
+ament_target_dependencies(point_cloud_filter rclcpp sensor_msgs diagnostic_msgs rcl_interfaces)
+
+add_executable(object_detector src/perception/object_detector.cpp)
+ament_target_dependencies(object_detector rclcpp sensor_msgs vision_msgs diagnostic_msgs rcl_interfaces)
+
+# --- Planning ECU nodes ---
+add_executable(path_planner src/planning/path_planner.cpp)
+ament_target_dependencies(path_planner rclcpp nav_msgs geometry_msgs vision_msgs diagnostic_msgs rcl_interfaces)
+
+add_executable(behavior_planner src/planning/behavior_planner.cpp)
+ament_target_dependencies(behavior_planner rclcpp nav_msgs geometry_msgs diagnostic_msgs rcl_interfaces)
+
+add_executable(task_scheduler src/planning/task_scheduler.cpp)
+ament_target_dependencies(task_scheduler rclcpp std_msgs diagnostic_msgs rcl_interfaces)
+
+# --- Actuation ECU nodes ---
+add_executable(motor_controller src/actuation/motor_controller.cpp)
+ament_target_dependencies(motor_controller rclcpp sensor_msgs geometry_msgs diagnostic_msgs rcl_interfaces)
+
+add_executable(joint_driver src/actuation/joint_driver.cpp)
+ament_target_dependencies(joint_driver rclcpp sensor_msgs diagnostic_msgs rcl_interfaces)
+
+add_executable(gripper_controller src/actuation/gripper_controller.cpp)
+ament_target_dependencies(gripper_controller rclcpp sensor_msgs geometry_msgs diagnostic_msgs rcl_interfaces)
+
+# --- Install ---
+install(TARGETS
+  lidar_driver camera_driver point_cloud_filter object_detector
+  path_planner behavior_planner task_scheduler
+  motor_controller joint_driver gripper_controller
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
+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/multi_ecu_aggregation/Dockerfile

@@ -0,0 +1,71 @@
+# Multi-ECU Aggregation Demo
+FROM ros:jazzy-ros-base
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV ROS_DISTRO=jazzy
+ENV COLCON_WS=/root/demo_ws
+
+# Install minimal dependencies (no GUI/simulation)
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-${ROS_DISTRO}-vision-msgs \
+    ros-${ROS_DISTRO}-nav-msgs \
+    ros-${ROS_DISTRO}-domain-bridge \
+    ros-${ROS_DISTRO}-ament-lint-auto \
+    ros-${ROS_DISTRO}-ament-lint-common \
+    ros-${ROS_DISTRO}-ament-cmake-gtest \
+    ros-${ROS_DISTRO}-yaml-cpp-vendor \
+    ros-${ROS_DISTRO}-example-interfaces \
+    python3-colcon-common-extensions \
+    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 + plugins)
+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 . && \
+    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_plugins/ros2_medkit_graph_provider . && \
+    rm -rf ros2_medkit
+
+# Copy demo package
+COPY package.xml CMakeLists.txt ${COLCON_WS}/src/multi_ecu_demo/
+COPY src/ ${COLCON_WS}/src/multi_ecu_demo/src/
+COPY config/ ${COLCON_WS}/src/multi_ecu_demo/config/
+COPY launch/ ${COLCON_WS}/src/multi_ecu_demo/launch/
+
+# Copy container scripts
+COPY container_scripts/ /var/lib/ros2_medkit/scripts/
+RUN find /var/lib/ros2_medkit/scripts -name "*.bash" -exec chmod +x {} \;
+
+# 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 ${COLCON_WS}/install/setup.bash" >> ~/.bashrc
+
+# Expose gateway port
+EXPOSE 8080
+
+# ECU_LAUNCH env var selects which launch file to run
+ENV ECU_LAUNCH=perception.launch.py
+CMD ["bash", "-c", "mkdir -p /var/lib/ros2_medkit/rosbags && source /opt/ros/jazzy/setup.bash && source /root/demo_ws/install/setup.bash && ros2 launch multi_ecu_demo \"${ECU_LAUNCH}\""]