Add Scripts API support to all demos

demos/moveit_pick_place/CMakeLists.txt

@@ -22,9 +22,6 @@ install(DIRECTORY worlds/
 install(PROGRAMS
   scripts/manipulation_monitor.py
   scripts/pick_place_loop.py
-  scripts/inject-collision.sh
-  scripts/inject-planning-failure.sh
-  scripts/restore-normal.sh
   DESTINATION lib/${PROJECT_NAME}
 )
 

demos/moveit_pick_place/Dockerfile

@@ -32,7 +32,7 @@ RUN apt-get update && apt-get install -y \
     ros-jazzy-rosbag2-storage-mcap \
     ros-jazzy-foxglove-bridge \
     libsystemd-dev \
-    sqlite3 libsqlite3-dev git curl \
+    sqlite3 libsqlite3-dev git curl jq \
     && rm -rf /var/lib/apt/lists/*
 
 # Create persistent directories for fault storage and rosbag recordings
@@ -63,6 +63,10 @@ COPY launch/ ${COLCON_WS}/src/moveit_medkit_demo/launch/
 COPY scripts/ ${COLCON_WS}/src/moveit_medkit_demo/scripts/
 COPY worlds/ ${COLCON_WS}/src/moveit_medkit_demo/worlds/
 
+# TODO(#49): Move to manifest-defined scripts once ros2_medkit#303 lands
+COPY container_scripts/ /var/lib/ros2_medkit/scripts/
+RUN find /var/lib/ros2_medkit/scripts -name "*.bash" -exec chmod +x {} \;
+
 # Build ros2_medkit and demo package
 # Note: rosdep install uses || true because ros2_medkit packages are not in
 # rosdep indices (they're built from source). All system deps are already
@@ -78,14 +82,6 @@ RUN bash -c "source /opt/ros/jazzy/setup.bash && \
 RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \
     echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc
 
-# Make inject/restore scripts available at a well-known path
-ENV DEMO_SCRIPTS=${COLCON_WS}/scripts
-RUN mkdir -p ${DEMO_SCRIPTS} && \
-    ln -sf ${COLCON_WS}/install/moveit_medkit_demo/lib/moveit_medkit_demo/inject-collision.sh ${DEMO_SCRIPTS}/inject-collision.sh && \
-    ln -sf ${COLCON_WS}/install/moveit_medkit_demo/lib/moveit_medkit_demo/inject-planning-failure.sh ${DEMO_SCRIPTS}/inject-planning-failure.sh && \
-    ln -sf ${COLCON_WS}/install/moveit_medkit_demo/lib/moveit_medkit_demo/restore-normal.sh ${DEMO_SCRIPTS}/restore-normal.sh
-ENV PATH="${DEMO_SCRIPTS}:${PATH}"
-
 EXPOSE 8080 8765
 
 CMD ["bash"]

demos/moveit_pick_place/README.md

@@ -23,6 +23,7 @@ This demo demonstrates:
 ## Prerequisites
 
 - Docker and docker-compose
+- `curl` and `jq` installed on the host (required for host-side scripts)
 - X11 display server (for Gazebo GUI) or `--headless` mode
 - (Optional) NVIDIA GPU + [nvidia-container-toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html) — recommended for smooth Gazebo rendering
 - ~7 GB disk space for Docker image
@@ -239,22 +240,53 @@ curl http://localhost:8080/api/v1/apps/panda-arm-controller/configurations/gains
 # Set a parameter value
 curl -X PUT http://localhost:8080/api/v1/apps/panda-arm-controller/configurations/constraints.goal_time \
   -H 'Content-Type: application/json' \
-  -d '{"data": {"value": 0.5}}'
+  -d '{"value": 0.5}'
 ```
 
-## Fault Injection Scenarios
+## Scripts API
+
+The gateway exposes a Scripts API for the `moveit-planning` component. All fault injection and diagnostic scripts are available via REST without `docker exec`.
+
+### Available Scripts
+
+| Script ID | Name | Description |
+|-----------|------|-------------|
+| `inject-collision` | Inject Collision | Spawn a surprise obstacle in the robot workspace (Gazebo + MoveIt planning scene) |
+| `inject-planning-failure` | Inject Planning Failure | Add collision wall blocking the pick-place path (Gazebo + MoveIt planning scene) |
+| `restore-normal` | Restore Normal | Remove all injected obstacles and clear faults |
+| `arm-self-test` | Arm Self-Test | Check joint states via REST API, verify values are reasonable |
+| `planning-benchmark` | Planning Benchmark | Verify MoveIt planning is functional by checking key nodes and operations |
+
+### List Available Scripts
 
-The fault injection scripts are **baked into the Docker image** under `$DEMO_SCRIPTS/` (on `PATH`). The host-side `./inject-*.sh` and `./restore-normal.sh` wrappers auto-detect the running container and delegate via `docker exec`.
+```bash
+curl http://localhost:8080/api/v1/components/moveit-planning/scripts | jq
+```
 
-You can also run them directly inside the container:
+### Execute a Script via REST
 
 ```bash
-docker exec -it moveit_medkit_demo inject-collision.sh
-docker exec -it moveit_medkit_demo inject-planning-failure.sh
-docker exec -it moveit_medkit_demo restore-normal.sh
+# Start execution
+curl -X POST http://localhost:8080/api/v1/components/moveit-planning/scripts/inject-collision/executions \
+  -H "Content-Type: application/json" \
+  -d '{"execution_type": "now"}' | jq
+
+# Poll status (use execution ID from above response)
+curl http://localhost:8080/api/v1/components/moveit-planning/scripts/inject-collision/executions/<exec_id> | jq
 ```
 
-> **Future:** When SOVD Scripts endpoints are available, these will be callable via `curl` against the gateway REST API.
+### Override Gateway URL
+
+```bash
+# Point scripts at a non-default gateway
+GATEWAY_URL=http://192.168.1.10:8080 ./inject-collision.sh
+```
+
+The host-side wrapper scripts (`./inject-collision.sh`, etc.) call the Scripts API automatically - no `docker exec` needed. Prerequisites: `curl` and `jq` must be installed on the host.
+
+## Fault Injection Scenarios
+
+The fault injection scripts run inside the container via the Scripts API. The host-side `./inject-*.sh` and `./restore-normal.sh` wrappers call the gateway REST endpoint - no `docker exec` required.
 
 ### 1. Planning Failure
 
@@ -319,17 +351,30 @@ Connect it to the gateway at `http://localhost:8080` to browse:
 | `move-arm.sh` | **Interactive arm controller** — move to preset positions |
 | `check-entities.sh` | Explore the full SOVD entity hierarchy with sample data |
 | `check-faults.sh` | View active faults with severity summary |
-| `inject-planning-failure.sh` | Thin wrapper → `docker exec` the in-container script |
-| `inject-collision.sh` | Thin wrapper → `docker exec` the in-container script |
-| `restore-normal.sh` | Thin wrapper → `docker exec` the in-container script |
+| `inject-planning-failure.sh` | Scripts API wrapper — inject planning failure |
+| `inject-collision.sh` | Scripts API wrapper — inject collision obstacle |
+| `restore-normal.sh` | Scripts API wrapper — restore normal operation |
+| `arm-self-test.sh` | Scripts API wrapper — run arm self-test |
+| `planning-benchmark.sh` | Scripts API wrapper — run planning benchmark |
+
+Scripts API wrappers require `curl` and `jq` on the host and call the gateway REST endpoint directly - no `docker exec` needed.
+
+### In-container scripts (auto-discovery via Scripts API)
+
+Container scripts are stored under `/var/lib/ros2_medkit/scripts/moveit-planning/` and exposed via the gateway Scripts API.
+
+| Script ID | Description |
+|-----------|-------------|
+| `inject-collision` | Spawn visible sphere + MoveIt collision object |
+| `inject-planning-failure` | Spawn visible wall + MoveIt collision object |
+| `restore-normal` | Remove Gazebo models + MoveIt objects, clear faults |
+| `arm-self-test` | Check joint states via REST API |
+| `planning-benchmark` | Verify MoveIt planning is functional |
 
-### In-container (baked into Docker image, on `PATH`)
+### ROS 2 runtime scripts (baked into colcon install)
 
 | Script | Description |
 |--------|-------------|
-| `inject-planning-failure.sh` | Spawn visible wall + MoveIt collision object |
-| `inject-collision.sh` | Spawn visible sphere + MoveIt collision object |
-| `restore-normal.sh` | Remove Gazebo models + MoveIt objects, clear faults |
 | `manipulation_monitor.py` | ROS 2 node: monitors topics and reports faults |
 | `pick_place_loop.py` | ROS 2 node: continuous pick-and-place cycle |
 

demos/moveit_pick_place/arm-self-test.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+# Arm self-test via Scripts API
+set -eu
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/../../lib/scripts-api.sh"
+
+execute_script "components" "moveit-planning" "arm-self-test" "Arm self-test"

demos/moveit_pick_place/config/medkit_params.yaml

@@ -29,6 +29,14 @@ diagnostics:
       # Plugin configuration (set by launch file when .so paths are resolved)
       plugins: [""]
 
+      # Scripts configuration (filesystem auto-discovery)
+      # TODO(#49): Migrate to manifest-defined scripts once ros2_medkit#303 lands
+      scripts:
+        scripts_dir: "/var/lib/ros2_medkit/scripts"
+        allow_uploads: false
+        max_concurrent_executions: 3
+        default_timeout_sec: 60
+
 # Fault Manager configuration (runs in root namespace)
 fault_manager:
   ros__parameters:

demos/moveit_pick_place/container_scripts/moveit-planning/arm-self-test/metadata.json

@@ -0,0 +1,5 @@
+{
+  "name": "Arm Self-Test",
+  "description": "Check joint states via REST API, verify values are reasonable",
+  "format": "bash"
+}

demos/moveit_pick_place/container_scripts/moveit-planning/arm-self-test/script.bash

@@ -0,0 +1,26 @@
+#!/bin/bash
+# Arm self-test - verify joint states are within expected limits
+set -eu
+GATEWAY_URL="${GATEWAY_URL:-http://localhost:8080}"
+API_BASE="${GATEWAY_URL}/api/v1"
+
+echo "Running arm self-test..."
+echo "Checking joint state broadcaster..."
+if ! curl -sf "${API_BASE}/apps/joint-state-broadcaster" > /dev/null 2>&1; then
+    echo "FAIL: joint-state-broadcaster not responding"
+    exit 1
+fi
+echo "OK: joint-state-broadcaster responding"
+
+echo "Checking move-group..."
+if ! curl -sf "${API_BASE}/apps/move-group" > /dev/null 2>&1; then
+    echo "FAIL: move-group not responding"
+    exit 1
+fi
+echo "OK: move-group responding"
+
+echo "Checking fault status..."
+FAULT_COUNT=$(curl -sf "${API_BASE}/faults" | jq '.items | length' 2>/dev/null || echo "?")
+echo "Active faults: $FAULT_COUNT"
+
+echo "Arm self-test passed"

demos/moveit_pick_place/container_scripts/moveit-planning/inject-collision/metadata.json

@@ -0,0 +1,5 @@
+{
+  "name": "Inject Collision",
+  "description": "Spawn a surprise obstacle in the robot workspace (Gazebo + MoveIt planning scene)",
+  "format": "bash"
+}

demos/moveit_pick_place/scripts/inject-collision.sh → demos/moveit_pick_place/container_scripts/moveit-planning/inject-collision/script.bash

@@ -3,20 +3,20 @@
 # Adds the object to both Gazebo (visible) and MoveIt planning scene (causes faults)
 # Runs INSIDE the Docker container.
 
-set -e
+set -eu
 
 # shellcheck source=/dev/null
 source /opt/ros/jazzy/setup.bash
 # shellcheck source=/dev/null
 source /root/demo_ws/install/setup.bash
 
-echo "🚫 Injecting COLLISION fault..."
+echo "Injecting COLLISION fault..."
 echo "   Spawning surprise obstacle in robot workspace"
 echo ""
 
 # 1. Spawn visible model in Gazebo
 # Robot base (panda_link0) is at z=0.75 in the world frame.
-# Obstacle at panda_link0 frame (0.4, 0, 0.4) → world frame (0.4, 0, 1.15)
+# Obstacle at panda_link0 frame (0.4, 0, 0.4) -> world frame (0.4, 0, 1.15)
 echo "Spawning visible red sphere in Gazebo..."
 cat > /tmp/surprise_obstacle.sdf << 'EOSDF'
 <?xml version="1.0" ?>
@@ -41,9 +41,9 @@ if ros2 run ros_gz_sim create \
     -file /tmp/surprise_obstacle.sdf \
     -name surprise_obstacle \
     -x 0.4 -y 0.0 -z 1.15 2>&1 | tail -1; then
-  echo "  ✓ Gazebo model spawned"
+  echo "  Gazebo model spawned"
 else
-  echo "  ⚠ Gazebo spawn failed (visual only — fault injection still works)"
+  echo "  Gazebo spawn failed (visual only - fault injection still works)"
 fi
 
 # 2. Add to MoveIt planning scene (so planner detects the collision)
@@ -91,10 +91,10 @@ rclpy.shutdown()
 "
 
 echo ""
-echo "✓ Collision fault injected!"
+echo "Collision fault injected!"
 echo "  A red sphere is now visible in Gazebo and registered in MoveIt planning scene."
 echo ""
-echo "Expected faults (via manipulation_monitor → FaultManager):"
+echo "Expected faults (via manipulation_monitor -> FaultManager):"
 echo "  - MOTION_PLANNING_FAILED: Cannot find collision-free path"
 echo ""
-echo "Restore with: /root/demo_ws/scripts/restore-normal.sh"
+echo "Restore with: ./restore-normal.sh (or via Scripts API)"

demos/moveit_pick_place/container_scripts/moveit-planning/inject-planning-failure/metadata.json

@@ -0,0 +1,5 @@
+{
+  "name": "Inject Planning Failure",
+  "description": "Add collision wall blocking the pick-place path (Gazebo + MoveIt planning scene)",
+  "format": "bash"
+}

demos/moveit_pick_place/scripts/inject-planning-failure.sh → demos/moveit_pick_place/container_scripts/moveit-planning/inject-planning-failure/script.bash

@@ -3,20 +3,20 @@
 # Adds the wall to both Gazebo (visible) and MoveIt planning scene (causes faults)
 # Runs INSIDE the Docker container.
 
-set -e
+set -eu
 
 # shellcheck source=/dev/null
 source /opt/ros/jazzy/setup.bash
 # shellcheck source=/dev/null
 source /root/demo_ws/install/setup.bash
 
-echo "🚫 Injecting PLANNING FAILURE fault..."
+echo "Injecting PLANNING FAILURE fault..."
 echo "   Adding collision wall between pick and place positions"
 echo ""
 
 # 1. Spawn visible wall in Gazebo
 # Robot base (panda_link0) is at z=0.75 in the world frame.
-# Wall at panda_link0 frame (0.3, 0.25, 0.5) → world frame (0.3, 0.25, 1.25)
+# Wall at panda_link0 frame (0.3, 0.25, 0.5) -> world frame (0.3, 0.25, 1.25)
 # Wall dimensions: 2.0 x 0.05 x 1.0 (wide, thin, tall)
 echo "Spawning visible orange wall in Gazebo..."
 cat > /tmp/injected_wall.sdf << 'EOSDF'
@@ -42,9 +42,9 @@ if ros2 run ros_gz_sim create \
     -file /tmp/injected_wall.sdf \
     -name injected_wall \
     -x 0.3 -y 0.25 -z 1.25 2>&1 | tail -1; then
-  echo "  ✓ Gazebo model spawned"
+  echo "  Gazebo model spawned"
 else
-  echo "  ⚠ Gazebo spawn failed (visual only — fault injection still works)"
+  echo "  Gazebo spawn failed (visual only - fault injection still works)"
 fi
 
 # 2. Add to MoveIt planning scene (so planner cannot find a path)
@@ -92,10 +92,10 @@ rclpy.shutdown()
 "
 
 echo ""
-echo "✓ Planning failure injected!"
+echo "Planning failure injected!"
 echo "  An orange wall is now visible in Gazebo and registered in MoveIt planning scene."
 echo ""
-echo "Expected faults (via manipulation_monitor → FaultManager):"
-echo "  - MOTION_PLANNING_FAILED: MoveGroup goal ABORTED — no collision-free path"
+echo "Expected faults (via manipulation_monitor -> FaultManager):"
+echo "  - MOTION_PLANNING_FAILED: MoveGroup goal ABORTED - no collision-free path"
 echo ""
-echo "Restore with: /root/demo_ws/scripts/restore-normal.sh"
+echo "Restore with: ./restore-normal.sh (or via Scripts API)"

demos/moveit_pick_place/container_scripts/moveit-planning/planning-benchmark/metadata.json

@@ -0,0 +1,5 @@
+{
+  "name": "Planning Benchmark",
+  "description": "Verify MoveIt planning is functional by checking key nodes and operations",
+  "format": "bash"
+}

demos/moveit_pick_place/container_scripts/moveit-planning/planning-benchmark/script.bash

@@ -0,0 +1,29 @@
+#!/bin/bash
+# Planning benchmark - verify MoveIt planning is functional
+set -eu
+GATEWAY_URL="${GATEWAY_URL:-http://localhost:8080}"
+API_BASE="${GATEWAY_URL}/api/v1"
+
+echo "Running planning benchmark..."
+echo "Checking move-group operations..."
+if ! curl -sf "${API_BASE}/apps/move-group/operations" > /dev/null 2>&1; then
+    echo "FAIL: Cannot list move-group operations"
+    exit 1
+fi
+echo "OK: move-group operations available"
+
+echo "Checking pick-place-node..."
+if ! curl -sf "${API_BASE}/apps/pick-place-node" > /dev/null 2>&1; then
+    echo "FAIL: pick-place-node not responding"
+    exit 1
+fi
+echo "OK: pick-place-node responding"
+
+echo "Checking manipulation monitor..."
+if ! curl -sf "${API_BASE}/apps/manipulation-monitor" > /dev/null 2>&1; then
+    echo "FAIL: manipulation-monitor not responding"
+    exit 1
+fi
+echo "OK: manipulation-monitor responding"
+
+echo "Planning benchmark passed"

demos/moveit_pick_place/container_scripts/moveit-planning/restore-normal/metadata.json

@@ -0,0 +1,5 @@
+{
+  "name": "Restore Normal",
+  "description": "Remove all injected obstacles from Gazebo and MoveIt planning scene, clear faults",
+  "format": "bash"
+}

demos/moveit_pick_place/scripts/restore-normal.sh → demos/moveit_pick_place/container_scripts/moveit-planning/restore-normal/script.bash

@@ -2,7 +2,7 @@
 # Restore Normal Operation - Remove all injected faults
 # Runs INSIDE the Docker container.
 
-set -e
+set -eu
 
 # shellcheck source=/dev/null
 source /opt/ros/jazzy/setup.bash
@@ -12,7 +12,7 @@ source /root/demo_ws/install/setup.bash
 GATEWAY_URL="${GATEWAY_URL:-http://localhost:8080}"
 API_BASE="${GATEWAY_URL}/api/v1"
 
-echo "🔄 Restoring NORMAL operation..."
+echo "Restoring NORMAL operation..."
 echo ""
 
 # 1. Remove injected Gazebo models (visual objects)
@@ -72,7 +72,7 @@ sleep 5
 curl -sf -X DELETE "${API_BASE}/faults" > /dev/null 2>&1 || true
 
 echo ""
-echo "✓ Normal operation restored!"
+echo "Normal operation restored!"
 echo ""
 if command -v jq >/dev/null 2>&1; then
   echo "Current fault status:"