selfpatch · bburda · Jan 31, 2026 · Jan 31, 2026
diff --git a/demos/turtlebot3_integration/README.md b/demos/turtlebot3_integration/README.md
@@ -38,29 +38,45 @@ That's it! The script will:
 
 1. Build the Docker images (first run takes ~5-10 min, downloads ~4GB)
 2. Setup X11 forwarding for Gazebo GUI
-3. Launch TurtleBot3 simulation + Nav2 + ros2_medkit gateway
+3. Launch TurtleBot3 simulation + Nav2 + ros2_medkit gateway in **daemon mode** (background)
 4. Launch sovd_web_ui at <http://localhost:3000>
 
-**Note:** By default, the demo runs with **Gazebo GUI** for visualization. Requires X11 display.
+**Note:** By default, the demo runs in **daemon mode** with **Gazebo GUI** enabled. This allows you to interact with ROS 2 while the demo is running.
 
-### Running Headless (Server Only)
-
-For CI/CD or remote servers without display:
+### Available Options
 
 ```bash
-HEADLESS=true docker compose up
-# or:
-./run-demo.sh --headless
+./run-demo.sh              # Daemon mode with GUI (default)
+./run-demo.sh --attached   # Foreground mode with live logs
+./run-demo.sh --headless   # Daemon mode without GUI (headless)
+./run-demo.sh --nvidia     # Use NVIDIA GPU acceleration
+./run-demo.sh --update     # Pull latest images before running
+./run-demo.sh --no-cache   # Rebuild without cache
 ```
 
-### Running with GUI (Default)
+### Viewing Logs and Interacting with ROS 2
 
-With Gazebo visualization:
+Since the demo runs in daemon mode by default, you can:
 
 ```bash
-docker compose up
-# or:
-./run-demo.sh
+# View live logs
+docker compose --profile cpu logs -f
+
+# Enter the container to run ROS 2 commands
+docker exec -it turtlebot3_medkit_demo bash
+
+# Inside the container:
+ros2 node list
+ros2 topic list
+ros2 topic echo /odom
+```
+
+### Stopping the Demo
+
+```bash
+./stop-demo.sh              # Stop containers
+./stop-demo.sh --volumes    # Stop and remove volumes
+./stop-demo.sh --images     # Stop and remove images
 ```
 
 ### 2. Access the Web UI
@@ -85,7 +101,15 @@ For hardware-accelerated Gazebo rendering with NVIDIA GPU:
 You can also use Docker Compose directly:
 
 ```bash
-docker compose --profile nvidia up --build
+# CPU version (default profile)
+docker compose --profile cpu up -d
+
+# NVIDIA version
+docker compose --profile nvidia up -d
+
+# View logs
+docker compose --profile cpu logs -f
+docker compose --profile nvidia logs -f
 ```
 
 ## Controlling the Robot
@@ -118,14 +142,23 @@ curl -X PUT http://localhost:8080/api/v1/apps/turtlebot3-node/data/cmd_vel \
 
 ### Via ROS2 CLI (inside container)
 
+First, enter the running container:
+
 ```bash
+# Enter the container
+docker exec -it turtlebot3_medkit_demo bash
+
+# Inside the container:
 # Send navigation goal
 ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose \
   "{pose: {header: {frame_id: 'map'}, pose: {position: {x: 2.0, y: 0.5, z: 0.0}, orientation: {w: 1.0}}}}"
 
 # Manual teleop
 ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \
   "{linear: {x: 0.2}, angular: {z: 0.0}}" --once
+
+# Exit container
+exit
 ```
 
 ## REST API Endpoints
@@ -390,6 +423,7 @@ demos/turtlebot3_integration/
 ├── Dockerfile                  # ROS 2 Jazzy + TurtleBot3 + Nav2 + ros2_medkit
 ├── docker-compose.yml          # Docker Compose (CPU & GPU via profiles)
 ├── run-demo.sh                 # One-click demo launcher
+├── stop-demo.sh                # Stop and cleanup demo
 ├── send-nav-goal.sh            # Send navigation goal via SOVD API
 ├── check-entities.sh           # Explore SOVD entity hierarchy
 ├── check-faults.sh             # View active faults
@@ -412,6 +446,7 @@ demos/turtlebot3_integration/
 | Script | Description |
 |--------|-------------|
 | `run-demo.sh` | Start the full demo (Docker) |
+| `stop-demo.sh` | Stop containers and cleanup |
 | `send-nav-goal.sh [x] [y] [yaw]` | Send navigation goal via SOVD API |
 | `check-entities.sh` | Explore SOVD entity hierarchy |
 | `check-faults.sh` | View active faults from gateway |

diff --git a/demos/turtlebot3_integration/docker-compose.yml b/demos/turtlebot3_integration/docker-compose.yml
@@ -1,6 +1,8 @@
 services:
   # CPU-only version (default)
+  # Use with: docker compose --profile cpu up
   turtlebot3-demo:
+    profiles: ["cpu"]
     build:
       context: .
       dockerfile: Dockerfile

diff --git a/demos/turtlebot3_integration/run-demo.sh b/demos/turtlebot3_integration/run-demo.sh
@@ -41,6 +41,8 @@ trap cleanup EXIT
 COMPOSE_ARGS=""
 BUILD_ARGS=""
 HEADLESS_MODE="false"
+UPDATE_IMAGES="false"
+DETACH_MODE="true"
 
 usage() {
     echo "Usage: $0 [OPTIONS]"
@@ -49,13 +51,17 @@ usage() {
     echo "  --nvidia     Use NVIDIA GPU acceleration"
     echo "  --no-cache   Build Docker images without cache"
     echo "  --headless   Run without Gazebo GUI (default: GUI enabled)"
+    echo "  --update     Pull latest images before running"
+    echo "  --attached   Run in foreground (default: daemon mode)"
     echo "  -h, --help   Show this help message"
     echo ""
     echo "Examples:"
-    echo "  $0                      # With Gazebo GUI (default)"
+    echo "  $0                      # Daemon mode (default)"
+    echo "  $0 --attached           # Foreground with logs"
     echo "  $0 --headless           # Headless mode (no GUI)"
     echo "  $0 --nvidia             # GPU acceleration + GUI"
     echo "  $0 --no-cache           # Rebuild without cache"
+    echo "  $0 --update             # Pull and run latest version"
     echo ""
     echo "Environment variables:"
     echo "  HEADLESS=true|false    Control GUI mode (default: false)"
@@ -75,6 +81,14 @@ while [[ $# -gt 0 ]]; do
             echo "Running in headless mode (no GUI)"
             HEADLESS_MODE="true"
             ;;
+        --update)
+            echo "Will pull latest images"
+            UPDATE_IMAGES="true"
+            ;;
+        --attached)
+            echo "Running in foreground mode"
+            DETACH_MODE="false"
+            ;;
         -h|--help)
             usage
             exit 0
@@ -90,11 +104,13 @@ done
 
 if [[ -z "$COMPOSE_ARGS" ]]; then
     echo "Using CPU-only mode (use --nvidia flag for GPU acceleration)"
+    COMPOSE_ARGS="--profile cpu"
 fi
 
 # Export HEADLESS mode for docker-compose
 export HEADLESS=$HEADLESS_MODE
 echo "Gazebo mode: $([ "$HEADLESS_MODE" = "true" ] && echo "headless (no GUI)" || echo "GUI enabled")"
+echo "Run mode: $([ "$DETACH_MODE" = "true" ] && echo "daemon (background)" || echo "attached (foreground)")"
 
 # Build and run
 echo "   Building and starting demo..."
@@ -108,12 +124,46 @@ echo "🌐 REST API available at: http://localhost:8080/api/v1/"
 echo "🌐 Web UI available at: http://localhost:3000/"
 echo ""
 
+# Pull images if --update flag is set
+if [[ "$UPDATE_IMAGES" == "true" ]]; then
+    echo "📥 Pulling latest images..."
+    if docker compose version &> /dev/null; then
+        # shellcheck disable=SC2086
+        docker compose ${COMPOSE_ARGS} pull
+    else
+        # shellcheck disable=SC2086
+        docker-compose ${COMPOSE_ARGS} pull
+    fi
+    echo ""
+fi
+
+# Set detach flag
+DETACH_FLAG=""
+if [[ "$DETACH_MODE" == "true" ]]; then
+    DETACH_FLAG="-d"
+fi
+
 if docker compose version &> /dev/null; then
     # shellcheck disable=SC2086
     docker compose ${COMPOSE_ARGS} build ${BUILD_ARGS} && \
-    docker compose ${COMPOSE_ARGS} up
+    docker compose ${COMPOSE_ARGS} up ${DETACH_FLAG}
 else
     # shellcheck disable=SC2086
     docker-compose ${COMPOSE_ARGS} build ${BUILD_ARGS} && \
-    docker-compose ${COMPOSE_ARGS} up
+    docker-compose ${COMPOSE_ARGS} up ${DETACH_FLAG}
+fi
+
+if [[ "$DETACH_MODE" == "true" ]]; then
+    echo ""
+    echo "✅ Demo started in background!"
+    echo ""
+    echo "📊 To view logs:"
+    echo "   docker compose --profile cpu logs -f      # CPU version"
+    echo "   docker compose --profile nvidia logs -f   # NVIDIA version"
+    echo ""
+    echo "🔧 To interact with ROS 2:"
+    echo "   docker exec -it turtlebot3_medkit_demo bash       # CPU"
+    echo "   docker exec -it turtlebot3_medkit_demo_nvidia bash # NVIDIA"
+    echo ""
+    echo "🛑 To stop: ./stop-demo.sh"
 fi
diff --git a/demos/turtlebot3_integration/stop-demo.sh b/demos/turtlebot3_integration/stop-demo.sh
@@ -0,0 +1,74 @@
+#!/bin/bash
+# Stop TurtleBot3 + ros2_medkit Demo
+
+set -eu
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+cd "$SCRIPT_DIR"
+
+echo "🛑 Stopping TurtleBot3 + ros2_medkit Demo"
+echo "=========================================="
+
+# Check for Docker
+if ! command -v docker &> /dev/null; then
+    echo "Error: Docker is not installed"
+    exit 1
+fi
+
+# Parse arguments
+REMOVE_VOLUMES=""
+REMOVE_IMAGES=""
+
+usage() {
+    echo "Usage: $0 [OPTIONS]"
+    echo ""
+    echo "Options:"
+    echo "  -v, --volumes    Remove named volumes"
+    echo "  --images         Remove images"
+    echo "  -h, --help       Show this help message"
+    echo ""
+    echo "Examples:"
+    echo "  $0               # Stop containers"
+    echo "  $0 --volumes     # Stop and remove volumes"
+    echo "  $0 --images      # Stop and remove images"
+}
+
+while [[ $# -gt 0 ]]; do
+    case "$1" in
+        -v|--volumes)
+            echo "Will remove named volumes"
+            REMOVE_VOLUMES="-v"
+            ;;
+        --images)
+            echo "Will remove images"
+            REMOVE_IMAGES="--rmi all"
+            ;;
+        -h|--help)
+            usage
+            exit 0
+            ;;
+        *)
+            echo "Unknown option: $1"
+            usage
+            exit 1
+            ;;
+    esac
+    shift
+done
+
+# Stop containers
+echo "Stopping containers..."
+if docker compose version &> /dev/null; then
+    # shellcheck disable=SC2086
+    docker compose down ${REMOVE_VOLUMES} ${REMOVE_IMAGES}
+else
+    # shellcheck disable=SC2086
+    docker-compose down ${REMOVE_VOLUMES} ${REMOVE_IMAGES}
+fi
+
+# Cleanup X11
+echo "Cleaning up X11 permissions..."
+xhost -local:docker 2>/dev/null || true
+
+echo ""
+echo "✅ Demo stopped successfully!"