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

.gitignore

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

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 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=feat/entity-model-and-aggregation
+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}"]