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Bundle the fault bridges in the image; docker-first quick start #470

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Merged
mfaferek93 merged 3 commits into from
Jun 23, 2026
Merged

Bundle the fault bridges in the image; docker-first quick start #470

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93d0888
fix(image,docs): bundle fault bridges; docker-first run-it
mfaferek93 Jun 22, 2026
05445bd
fix(image): run the full bringup stack from the published image
mfaferek93 Jun 23, 2026
5d41990
docs: note the /diagnostics bridge is opt-in in bringup
mfaferek93 Jun 23, 2026
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2 changes: 2 additions & 0 deletions Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,8 @@ COPY src/ros2_medkit_gateway/ ${COLCON_WS}/src/ros2_medkit_gateway/
COPY src/ros2_medkit_fault_manager/ ${COLCON_WS}/src/ros2_medkit_fault_manager/
COPY src/ros2_medkit_fault_reporter/ ${COLCON_WS}/src/ros2_medkit_fault_reporter/
COPY src/ros2_medkit_diagnostic_bridge/ ${COLCON_WS}/src/ros2_medkit_diagnostic_bridge/
COPY src/ros2_medkit_log_bridge/ ${COLCON_WS}/src/ros2_medkit_log_bridge/
COPY src/ros2_medkit_action_status_bridge/ ${COLCON_WS}/src/ros2_medkit_action_status_bridge/
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# Copy open-core plugins
COPY src/ros2_medkit_discovery_plugins/ ${COLCON_WS}/src/ros2_medkit_discovery_plugins/
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21 changes: 15 additions & 6 deletions README.md
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Expand Up @@ -76,16 +76,25 @@ touch the node's code.

## Run it in 5 minutes

**Two commands. No code changes, no config.** Install from the ROS 2 distribution, then launch
it next to your already-running robot:
**One command. No code changes, no config.** Point a container at your already-running robot - it
ships the gateway, the fault manager and the drop-in bridges, and speaks whatever DDS your stack
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speaks (Fast DDS and CycloneDDS are both baked in):

```bash
# 1. Install (the gateway package pulls in the fault manager + the drop-in bridges)
sudo apt install ros-jazzy-ros2-medkit-gateway # or ros-humble-ros2-medkit-gateway
docker run --rm --network host --ipc host \
-e ROS_DOMAIN_ID -e RMW_IMPLEMENTATION \
ghcr.io/selfpatch/ros2_medkit-jazzy:latest \
ros2 launch ros2_medkit_gateway bringup.launch.py
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# → REST API live at http://localhost:8080/api/v1/
```

Swap `jazzy` for `humble`/`lyrical`; the two `-e` flags forward your shell's values so the
container joins the same DDS graph as your robot. Rolling out to the ROS index now, so soon it is
a plain apt install too:

# 2. Attach to your running ROS 2 graph - same ROS_DOMAIN_ID / RMW, nothing to configure
```bash
sudo apt install ros-jazzy-ros2-medkit-gateway # or ros-humble- / ros-lyrical-
ros2 launch ros2_medkit_gateway bringup.launch.py
# → REST API live at http://localhost:8080/api/v1/
```

> [!TIP]
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