feat(turtlebot3): Complete demo with manifest discovery, fault management and GUI as default

[bburda]

Description

Major improvements to TurtleBot3 integration demo:

Core Features:

• Add manifest-based entity discovery (SOVD hierarchy: Areas→Components→Apps→Functions)
• Implement fault management via diagnostic_bridge + fault_manager
• Add SQLite storage for persistent fault tracking
• Support conditional headless/GUI Gazebo modes

Docker & Launch:

• Fix Dockerfile: add ros2_medkit_fault_manager, fault_reporter, diagnostic_bridge packages
• Add SQLite dependencies (sqlite3, libsqlite3-dev)
• Update launch file: conditional Gazebo launch based on headless argument
• Change default mode from headless to GUI for better UX
• Add HEADLESS environment variable support in docker-compose.yml

Manifest & Configuration:

• Add turtlebot3_manifest.yaml defining complete entity hierarchy
• Configure 4 areas: robot, navigation, diagnostics, bridge
• Define 6 components: turtlebot3-base, lidar-sensor, nav2-stack, gateway, fault-manager, diagnostic-bridge-unit
• Define 11 apps with ROS node bindings and dependencies
• Define 3 functions: autonomous-navigation, robot-control, fault-management

Shell Scripts:

• Fix all app IDs: underscore format → hyphen format (bt_navigator → bt-navigator, etc.)
• Add check-entities.sh: explore SOVD entity hierarchy
• Add check-faults.sh: view active faults
• Add inject-nav-failure.sh: trigger unreachable goal scenario
• Add inject-localization-failure.sh: reset AMCL with high uncertainty
• Add inject-controller-failure.sh: set restrictive velocity limits
• Add inject-collision.sh: navigate toward obstacles
• Add restore-normal.sh: restore defaults and clear faults
• Update send-nav-goal.sh: use SOVD API instead of docker exec

Documentation:

• Completely rewrite TurtleBot3 demo README with:
  • Clear GUI vs headless mode instructions
  • SOVD entity hierarchy explanation
  • Fault management architecture diagram
  • Fault injection scenarios table
  • Complete REST API examples for all endpoints
  • Scripts reference table

Testing:

• All scripts verified working with GATEWAY_URL=http://172.19.0.2:8080
• Navigation goals successfully executed via SOVD API
• Fault injection scenarios tested
• 23 components discovered, 0 initial faults confirmed
• GUI and headless modes both tested and working

Related Issue

closes #9

Checklist

• Tested locally
• README updated (if needed)

[Copilot]

Pull request overview

This PR significantly enhances the TurtleBot3 integration demo by adding complete SOVD-compliant entity discovery, fault management capabilities, and improved Docker deployment options with both GUI and headless Gazebo modes.

Changes:

• Implemented manifest-based entity discovery with complete SOVD hierarchy (Areas → Components → Apps → Functions)
• Added fault management system with diagnostic_bridge for legacy /diagnostics topic support and persistent SQLite storage
• Introduced conditional Gazebo launch modes (GUI/headless) with default GUI mode for better user experience
• Created comprehensive fault injection scripts and monitoring tools for testing fault scenarios
• Updated all documentation with REST API examples, entity hierarchy explanations, and fault management architecture

Reviewed changes

Copilot reviewed 16 out of 16 changed files in this pull request and generated 9 comments.

Show a summary per file

File	Description
send-nav-goal.sh	Migrated from docker exec to SOVD API for navigation goals, added robust validation and error handling
run-demo.sh	Added --headless flag with environment variable support for conditional Gazebo modes
restore-normal.sh	New script to restore default parameters and clear all faults after testing scenarios
inject-nav-failure.sh	New fault injection script for unreachable navigation goals
inject-localization-failure.sh	New fault injection script triggering AMCL uncertainty via global relocalization
inject-controller-failure.sh	New fault injection script setting restrictive velocity limits
inject-collision.sh	New fault injection script navigating toward obstacles
check-faults.sh	New script to query and display active faults from gateway
check-entities.sh	New script to explore complete SOVD entity hierarchy
demo.launch.py	Added conditional headless/GUI Gazebo launch, fault_manager and diagnostic_bridge nodes, manifest path configuration
turtlebot3_manifest.yaml	New complete SOVD manifest defining 4 areas, 6 components, 11 apps, and 3 functions
medkit_params.yaml	Updated with hybrid discovery mode, DELETE method in CORS, and manifest configuration
docker-compose.yml	Added HEADLESS environment variable support, switched to pre-built sovd_web_ui image
Dockerfile	Added SQLite dependencies and ros2_medkit fault management packages
README.md (root)	Expanded overview with SOVD capabilities, added both demo quick starts, included API examples
README.md (turtlebot3)	Complete rewrite with GUI/headless instructions, entity hierarchy documentation, fault injection scenarios, comprehensive API reference

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[Copilot]

Pull request overview

Copilot reviewed 16 out of 16 changed files in this pull request and generated 8 comments.

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