feat: nav2 sensor fix OTA demo#58
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…pdate, publish-and-apply a hotfix Dev-grade OTA demo on the ros2_medkit gateway's ota_update_plugin and the SOVD /updates resource. An RB-Theron AMR runs Nav2 in an AWS small-warehouse world. A regressing lidar update (broken_lidar_3_0_0) is auto-applied at boot; a few metres into a mission the scan sensor develops a stuck sector, Nav2 can no longer make progress, and navigate_to_pose aborts. Generic log/action-status bridges surface that as SOVD faults on bt-navigator and controller-server with a freeze-frame and an MCAP capture - the sensor node never reports itself. The operator diagnoses over SOVD: downloads the MCAP, runs a suite of health-check operations (lidar/localization/drivetrain/costmap) to confirm the lidar is the cause, then publishes the forward hotfix (fixed_lidar_3_0_1) as a hand-provided update descriptor via POST /updates and applies it (prepare + execute), and clears the latched faults. A custom nav_to_pose behaviour tree keeps the abort prompt. Foxglove panels + curl scripts drive the loop; smoke tests cover the plugin, the SOVD envelope, the publish-then-apply flow, and the single-publisher /scan remap. Runs on CycloneDDS (FastDDS segfaults amcl/controller_server on Jazzy).
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Description
Adds
demos/ota_nav2_sensor_fix/- an end-to-end OTA-over-SOVD demo (gateway plugin + FastAPI artifact server + 4 ROS 2 demo packages) exercising the/updateslifecycle: update a broken lidar node, install a new safety classifier, and uninstall a deprecated package, all over HTTP and spec-compliant.OTA demo
demos/ota_nav2_sensor_fix/end-to-end OTA demoota_update_pluginC++ gateway plugin (UpdateProvider+GatewayPlugin)updated_components/added_components/removed_components)pack_artifact.pyCLI for building tarballs and catalog entriesdocker-compose.yml(gateway + update server); nav2 / Foxglove are bring-your-own (documented in README)Out of scope (deliberate, dev-grade positioning)
Test plan / verification
Unit & integration tests (all clean):
pytest -vforpack_artifact.py(16 tests)pytest -vforota_update_server(5 tests)colcon testforota_update_plugin(24 GTest cases)-Wall -Wextra -Wpedantic -Wshadow -Wconversionbuild_artifacts.shproduces a 3-entry catalog + tarballs end-to-endEnd-to-end smoke:
UpdateProvider(gateway logs: "Update backend provided by plugin")/catalogand registers all 3 catalog entries/updates/fixed_lidar_2_1_0/prepare && /executekillsbroken_lidar_nodeand spawnsfixed_lidar_node/updates/obstacle_classifier_v2_1_0_0/prepare && /executeswaps files and spawnsobstacle_classifier_node/updates/broken_lidar_legacy_remove/prepare && /executereturnsstatus: completedand the legacy process is gonetests/smoke_test_ota.sh- 25/25 pass on a fresh stacktests/smoke_test_demo_narrative.sh- 8/8 pass on a fresh stacktrigger-update.sh,trigger-install.sh,trigger-uninstall.sh,check-demo.sh,stop-demo.shexercised end-to-endNotes
selfpatch/ros2_medkitmainfor the gateway sources (clone happens at image build time)pgrepmatches against/proc/<pid>/cmdlineargv[0] basename (notcomm, which the kernel truncates to 15 chars)artifacts/is baked into theupdate_serverimage at build timeros2_medkit_foxglove_extensionUpdates panel PR (fix(docker): add missing ros2_medkit components and submodules #6 of that repo)