From 47120facadcd1c9777a934551180ac874796c522 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Sun, 22 Mar 2026 20:44:15 +0100
Subject: [PATCH 01/16] feat: add shared triggers API library for demos

---
 lib/triggers-api.sh | 166 ++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 166 insertions(+)
 create mode 100644 lib/triggers-api.sh

diff --git a/lib/triggers-api.sh b/lib/triggers-api.sh
new file mode 100644
index 0000000..6f11d9e
--- /dev/null
+++ b/lib/triggers-api.sh
@@ -0,0 +1,166 @@
+#!/bin/bash
+# Shared helper for gateway Triggers API
+# Source this from host-side trigger scripts:
+#   SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+#   source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
+#
+# Environment variables:
+#   GATEWAY_URL    - Gateway base URL (default: http://localhost:8080)
+
+GATEWAY_URL="${GATEWAY_URL:-http://localhost:8080}"
+API_BASE="${GATEWAY_URL}/api/v1"
+
+# Check dependencies
+for cmd in curl jq; do
+    if ! command -v "$cmd" >/dev/null 2>&1; then
+        echo "Required tool '$cmd' is not installed."
+        exit 1
+    fi
+done
+
+# Check gateway is reachable
+check_gateway() {
+    if ! curl -sf "${API_BASE}/health" > /dev/null 2>&1; then
+        echo "Gateway not available at ${GATEWAY_URL}. Is the demo running? Try: ./run-demo.sh"
+        exit 1
+    fi
+}
+
+# Create an OnChange trigger on an entity's faults collection
+# Usage: create_fault_trigger <entity_type> <entity_id> [lifetime]
+# Returns: trigger JSON on stdout
+create_fault_trigger() {
+    local entity_type="$1"
+    local entity_id="$2"
+    local lifetime="${3:-3600}"
+
+    check_gateway
+
+    local resource="${API_BASE}/${entity_type}/${entity_id}/faults"
+    local body
+    body=$(jq -n \
+        --arg resource "$resource" \
+        --argjson lifetime "$lifetime" \
+        '{
+            resource: $resource,
+            trigger_condition: {condition_type: "OnChange"},
+            multishot: true,
+            lifetime: $lifetime
+        }')
+
+    local result
+    local http_code
+    result=$(curl -s -w "\n%{http_code}" -X POST \
+        "${API_BASE}/${entity_type}/${entity_id}/triggers" \
+        -H "Content-Type: application/json" \
+        -d "$body" 2>/dev/null) || true
+
+    http_code=$(echo "$result" | tail -1)
+    result=$(echo "$result" | sed '$d')
+
+    if [ "$http_code" != "201" ]; then
+        echo "Failed to create trigger (HTTP $http_code):" >&2
+        echo "$result" | jq '.' 2>/dev/null >&2 || echo "$result" >&2
+        return 1
+    fi
+
+    echo "$result"
+}
+
+# List triggers for an entity
+# Usage: list_triggers <entity_type> <entity_id>
+list_triggers() {
+    local entity_type="$1"
+    local entity_id="$2"
+
+    check_gateway
+
+    curl -sf "${API_BASE}/${entity_type}/${entity_id}/triggers" 2>/dev/null | jq '.'
+}
+
+# Delete a trigger
+# Usage: delete_trigger <entity_type> <entity_id> <trigger_id>
+delete_trigger() {
+    local entity_type="$1"
+    local entity_id="$2"
+    local trigger_id="$3"
+
+    check_gateway
+
+    local http_code
+    http_code=$(curl -s -o /dev/null -w "%{http_code}" -X DELETE \
+        "${API_BASE}/${entity_type}/${entity_id}/triggers/${trigger_id}" 2>/dev/null) || true
+
+    if [ "$http_code" = "204" ]; then
+        echo "Trigger ${trigger_id} deleted."
+    else
+        echo "Failed to delete trigger ${trigger_id} (HTTP $http_code)." >&2
+        return 1
+    fi
+}
+
+# Watch SSE events for a trigger (blocking - Ctrl+C to stop)
+# Usage: watch_trigger_events <entity_type> <entity_id> <trigger_id>
+watch_trigger_events() {
+    local entity_type="$1"
+    local entity_id="$2"
+    local trigger_id="$3"
+
+    check_gateway
+
+    local url="${API_BASE}/${entity_type}/${entity_id}/triggers/${trigger_id}/events"
+
+    echo "Listening for trigger events..."
+    echo "  Entity: ${entity_type}/${entity_id}"
+    echo "  Trigger: ${trigger_id}"
+    echo "  SSE URL: ${url}"
+    echo ""
+    echo "Waiting for events (Ctrl+C to stop)..."
+    echo "---"
+
+    # Stream SSE events, filter out keepalives, pretty-print JSON data lines
+    curl -sf -N "${url}" 2>/dev/null | while IFS= read -r line; do
+        # Skip empty lines and keepalive comments
+        if [ -z "$line" ] || [[ "$line" == ":"* ]]; then
+            continue
+        fi
+        # Parse SSE data lines
+        if [[ "$line" == data:* ]]; then
+            local data="${line#data:}"
+            # Trim leading space if present
+            data="${data# }"
+            local timestamp
+            timestamp=$(echo "$data" | jq -r '.timestamp // empty' 2>/dev/null)
+            if [ -n "$timestamp" ]; then
+                echo "[${timestamp}] Event received:"
+                echo "$data" | jq '.' 2>/dev/null || echo "$data"
+                echo "---"
+            else
+                echo "$data" | jq '.' 2>/dev/null || echo "$data"
+                echo "---"
+            fi
+        fi
+    done
+}
+
+# Find the first active trigger for an entity
+# Usage: find_active_trigger <entity_type> <entity_id>
+# Returns: trigger_id on stdout, or empty string if none found
+find_active_trigger() {
+    local entity_type="$1"
+    local entity_id="$2"
+
+    check_gateway
+
+    local result
+    result=$(curl -sf "${API_BASE}/${entity_type}/${entity_id}/triggers" 2>/dev/null) || true
+
+    if [ -z "$result" ]; then
+        echo ""
+        return 0
+    fi
+
+    local tid
+    tid=$(echo "$result" | jq -r '.items[] | select(.status == "active") | .id' 2>/dev/null | head -1) || true
+    echo "${tid:-}"
+}

From 3ff1ccd745ecd63ed514ad08f72853ef81f72b72 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Sun, 22 Mar 2026 20:49:40 +0100
Subject: [PATCH 02/16] feat(sensor_diagnostics): add trigger showcase scripts

---
 demos/sensor_diagnostics/setup-triggers.sh | 29 ++++++++++++++++++++++
 demos/sensor_diagnostics/watch-triggers.sh | 26 +++++++++++++++++++
 2 files changed, 55 insertions(+)
 create mode 100755 demos/sensor_diagnostics/setup-triggers.sh
 create mode 100755 demos/sensor_diagnostics/watch-triggers.sh

diff --git a/demos/sensor_diagnostics/setup-triggers.sh b/demos/sensor_diagnostics/setup-triggers.sh
new file mode 100755
index 0000000..3398384
--- /dev/null
+++ b/demos/sensor_diagnostics/setup-triggers.sh
@@ -0,0 +1,29 @@
+#!/bin/bash
+# Create fault-monitoring trigger for sensor diagnostics demo
+# Alerts on any new fault reported on the compute-unit component
+set -eu
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
+
+ENTITY_TYPE="components"
+ENTITY_ID="compute-unit"
+
+echo "Setting up fault trigger for ${ENTITY_TYPE}/${ENTITY_ID}..."
+echo ""
+
+result=$(create_fault_trigger "$ENTITY_TYPE" "$ENTITY_ID")
+trigger_id=$(echo "$result" | jq -r '.id')
+status=$(echo "$result" | jq -r '.status')
+event_source=$(echo "$result" | jq -r '.event_source')
+
+echo "Trigger created successfully!"
+echo "  ID:     ${trigger_id}"
+echo "  Status: ${status}"
+echo "  Events: ${GATEWAY_URL}${event_source}"
+echo ""
+echo "To watch for events:"
+echo "  ./watch-triggers.sh"
+echo ""
+echo "Then inject a fault in another terminal:"
+echo "  ./inject-nan.sh"
diff --git a/demos/sensor_diagnostics/watch-triggers.sh b/demos/sensor_diagnostics/watch-triggers.sh
new file mode 100755
index 0000000..01cd26a
--- /dev/null
+++ b/demos/sensor_diagnostics/watch-triggers.sh
@@ -0,0 +1,26 @@
+#!/bin/bash
+# Watch trigger events for sensor diagnostics demo
+# Connects to SSE stream and prints fault events in real time
+set -eu
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
+
+ENTITY_TYPE="components"
+ENTITY_ID="compute-unit"
+
+trigger_id="${1:-}"
+
+if [ -z "$trigger_id" ]; then
+    # Auto-detect: find first active trigger
+    trigger_id=$(find_active_trigger "$ENTITY_TYPE" "$ENTITY_ID")
+    if [ -z "$trigger_id" ]; then
+        echo "No active triggers found for ${ENTITY_TYPE}/${ENTITY_ID}."
+        echo "Create one first: ./setup-triggers.sh"
+        exit 1
+    fi
+    echo "Found active trigger: ${trigger_id}"
+    echo ""
+fi
+
+watch_trigger_events "$ENTITY_TYPE" "$ENTITY_ID" "$trigger_id"

From 1dec87bd395546d3fb9e4a064efe3652692ecaf5 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Sun, 22 Mar 2026 20:51:02 +0100
Subject: [PATCH 03/16] feat(turtlebot3): add trigger showcase scripts

---
 .../turtlebot3_integration/setup-triggers.sh  | 29 +++++++++++++++++++
 .../turtlebot3_integration/watch-triggers.sh  | 26 +++++++++++++++++
 2 files changed, 55 insertions(+)
 create mode 100755 demos/turtlebot3_integration/setup-triggers.sh
 create mode 100755 demos/turtlebot3_integration/watch-triggers.sh

diff --git a/demos/turtlebot3_integration/setup-triggers.sh b/demos/turtlebot3_integration/setup-triggers.sh
new file mode 100755
index 0000000..6d41a83
--- /dev/null
+++ b/demos/turtlebot3_integration/setup-triggers.sh
@@ -0,0 +1,29 @@
+#!/bin/bash
+# Create fault-monitoring trigger for turtlebot3 integration demo
+# Alerts on navigation failure faults on the nav2-stack component
+set -eu
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
+
+ENTITY_TYPE="components"
+ENTITY_ID="nav2-stack"
+
+echo "Setting up fault trigger for ${ENTITY_TYPE}/${ENTITY_ID}..."
+echo ""
+
+result=$(create_fault_trigger "$ENTITY_TYPE" "$ENTITY_ID")
+trigger_id=$(echo "$result" | jq -r '.id')
+status=$(echo "$result" | jq -r '.status')
+event_source=$(echo "$result" | jq -r '.event_source')
+
+echo "Trigger created successfully!"
+echo "  ID:     ${trigger_id}"
+echo "  Status: ${status}"
+echo "  Events: ${GATEWAY_URL}${event_source}"
+echo ""
+echo "To watch for events:"
+echo "  ./watch-triggers.sh"
+echo ""
+echo "Then inject a fault in another terminal:"
+echo "  ./inject-nav-failure.sh"
diff --git a/demos/turtlebot3_integration/watch-triggers.sh b/demos/turtlebot3_integration/watch-triggers.sh
new file mode 100755
index 0000000..2ac4254
--- /dev/null
+++ b/demos/turtlebot3_integration/watch-triggers.sh
@@ -0,0 +1,26 @@
+#!/bin/bash
+# Watch trigger events for turtlebot3 integration demo
+# Connects to SSE stream and prints fault events in real time
+set -eu
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
+
+ENTITY_TYPE="components"
+ENTITY_ID="nav2-stack"
+
+trigger_id="${1:-}"
+
+if [ -z "$trigger_id" ]; then
+    # Auto-detect: find first active trigger
+    trigger_id=$(find_active_trigger "$ENTITY_TYPE" "$ENTITY_ID")
+    if [ -z "$trigger_id" ]; then
+        echo "No active triggers found for ${ENTITY_TYPE}/${ENTITY_ID}."
+        echo "Create one first: ./setup-triggers.sh"
+        exit 1
+    fi
+    echo "Found active trigger: ${trigger_id}"
+    echo ""
+fi
+
+watch_trigger_events "$ENTITY_TYPE" "$ENTITY_ID" "$trigger_id"

From 9908af85b9b0acb616502148fe43ee6dec51220d Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Sun, 22 Mar 2026 21:04:34 +0100
Subject: [PATCH 04/16] feat(moveit): add trigger showcase scripts

---
 demos/moveit_pick_place/setup-triggers.sh | 29 +++++++++++++++++++++++
 demos/moveit_pick_place/watch-triggers.sh | 26 ++++++++++++++++++++
 2 files changed, 55 insertions(+)
 create mode 100755 demos/moveit_pick_place/setup-triggers.sh
 create mode 100755 demos/moveit_pick_place/watch-triggers.sh

diff --git a/demos/moveit_pick_place/setup-triggers.sh b/demos/moveit_pick_place/setup-triggers.sh
new file mode 100755
index 0000000..df24605
--- /dev/null
+++ b/demos/moveit_pick_place/setup-triggers.sh
@@ -0,0 +1,29 @@
+#!/bin/bash
+# Create fault-monitoring trigger for moveit pick-and-place demo
+# Alerts on planning failure faults on the moveit-planning component
+set -eu
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
+
+ENTITY_TYPE="components"
+ENTITY_ID="moveit-planning"
+
+echo "Setting up fault trigger for ${ENTITY_TYPE}/${ENTITY_ID}..."
+echo ""
+
+result=$(create_fault_trigger "$ENTITY_TYPE" "$ENTITY_ID")
+trigger_id=$(echo "$result" | jq -r '.id')
+status=$(echo "$result" | jq -r '.status')
+event_source=$(echo "$result" | jq -r '.event_source')
+
+echo "Trigger created successfully!"
+echo "  ID:     ${trigger_id}"
+echo "  Status: ${status}"
+echo "  Events: ${GATEWAY_URL}${event_source}"
+echo ""
+echo "To watch for events:"
+echo "  ./watch-triggers.sh"
+echo ""
+echo "Then inject a fault in another terminal:"
+echo "  ./inject-planning-failure.sh"
diff --git a/demos/moveit_pick_place/watch-triggers.sh b/demos/moveit_pick_place/watch-triggers.sh
new file mode 100755
index 0000000..7045028
--- /dev/null
+++ b/demos/moveit_pick_place/watch-triggers.sh
@@ -0,0 +1,26 @@
+#!/bin/bash
+# Watch trigger events for moveit pick-and-place demo
+# Connects to SSE stream and prints fault events in real time
+set -eu
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
+
+ENTITY_TYPE="components"
+ENTITY_ID="moveit-planning"
+
+trigger_id="${1:-}"
+
+if [ -z "$trigger_id" ]; then
+    # Auto-detect: find first active trigger
+    trigger_id=$(find_active_trigger "$ENTITY_TYPE" "$ENTITY_ID")
+    if [ -z "$trigger_id" ]; then
+        echo "No active triggers found for ${ENTITY_TYPE}/${ENTITY_ID}."
+        echo "Create one first: ./setup-triggers.sh"
+        exit 1
+    fi
+    echo "Found active trigger: ${trigger_id}"
+    echo ""
+fi
+
+watch_trigger_events "$ENTITY_TYPE" "$ENTITY_ID" "$trigger_id"

From 8469c72b05b0ca31fe0030069c8dd30567a63618 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Sun, 22 Mar 2026 21:05:56 +0100
Subject: [PATCH 05/16] feat: add trigger commands to run-demo.sh daemon output

---
 demos/moveit_pick_place/run-demo.sh      | 4 ++++
 demos/sensor_diagnostics/run-demo.sh     | 4 ++++
 demos/turtlebot3_integration/run-demo.sh | 4 ++++
 3 files changed, 12 insertions(+)

diff --git a/demos/moveit_pick_place/run-demo.sh b/demos/moveit_pick_place/run-demo.sh
index ad7baca..fd2e2fb 100755
--- a/demos/moveit_pick_place/run-demo.sh
+++ b/demos/moveit_pick_place/run-demo.sh
@@ -166,5 +166,9 @@ if [[ "$DETACH_MODE" == "true" ]]; then
     echo "   docker exec -it moveit_medkit_demo bash       # CPU"
     echo "   docker exec -it moveit_medkit_demo_nvidia bash # NVIDIA"
     echo ""
+    echo "📡 Triggers (condition-based alerts):"
+    echo "   ./setup-triggers.sh     # Create fault alert trigger"
+    echo "   ./watch-triggers.sh     # Watch trigger events (SSE stream)"
+    echo ""
     echo "🛑 To stop: ./stop-demo.sh"
 fi
diff --git a/demos/sensor_diagnostics/run-demo.sh b/demos/sensor_diagnostics/run-demo.sh
index c6e9a30..6b03f9c 100755
--- a/demos/sensor_diagnostics/run-demo.sh
+++ b/demos/sensor_diagnostics/run-demo.sh
@@ -126,6 +126,10 @@ if [[ "$DETACH_MODE" == "true" ]]; then
     echo "   ./inject-drift.sh        # Inject sensor drift"
     echo "   ./restore-normal.sh      # Restore normal operation"
     echo ""
+    echo "📡 Triggers (condition-based alerts):"
+    echo "   ./setup-triggers.sh     # Create fault alert trigger"
+    echo "   ./watch-triggers.sh     # Watch trigger events (SSE stream)"
+    echo ""
     echo "🌐 Web UI: http://localhost:3000"
     echo "🌐 REST API: http://localhost:8080/api/v1/"
     echo ""
diff --git a/demos/turtlebot3_integration/run-demo.sh b/demos/turtlebot3_integration/run-demo.sh
index 3af1a39..a11113b 100755
--- a/demos/turtlebot3_integration/run-demo.sh
+++ b/demos/turtlebot3_integration/run-demo.sh
@@ -173,5 +173,9 @@ if [[ "$DETACH_MODE" == "true" ]]; then
     echo "   docker exec -it turtlebot3_medkit_demo bash       # CPU"
     echo "   docker exec -it turtlebot3_medkit_demo_nvidia bash # NVIDIA"
     echo ""
+    echo "📡 Triggers (condition-based alerts):"
+    echo "   ./setup-triggers.sh     # Create fault alert trigger"
+    echo "   ./watch-triggers.sh     # Watch trigger events (SSE stream)"
+    echo ""
     echo "🛑 To stop: ./stop-demo.sh"
 fi

From 747fc6158075e93b9646e3ea43ead0132f11cc05 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Sun, 22 Mar 2026 21:07:12 +0100
Subject: [PATCH 06/16] docs: add triggers showcase documentation to all demos

---
 demos/moveit_pick_place/README.md      | 51 ++++++++++++++++++++++++++
 demos/sensor_diagnostics/README.md     | 51 ++++++++++++++++++++++++++
 demos/turtlebot3_integration/README.md | 51 ++++++++++++++++++++++++++
 3 files changed, 153 insertions(+)

diff --git a/demos/moveit_pick_place/README.md b/demos/moveit_pick_place/README.md
index 6e79903..9374e10 100644
--- a/demos/moveit_pick_place/README.md
+++ b/demos/moveit_pick_place/README.md
@@ -284,6 +284,57 @@ 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.
 
+## Triggers (Condition-Based Alerts)
+
+The gateway supports condition-based triggers that fire when specific events occur, delivering notifications via Server-Sent Events (SSE). This demo creates a fault-monitoring trigger that alerts on planning failure faults on the moveit-planning component.
+
+### Setup
+
+```bash
+# Terminal 1: Start the demo
+./run-demo.sh
+
+# Terminal 2: Create fault trigger and watch for events
+./setup-triggers.sh       # Creates OnChange trigger on moveit-planning faults
+./watch-triggers.sh       # Connects to SSE stream (Ctrl+C to stop)
+
+# Terminal 3: Inject a fault - trigger fires!
+./inject-planning-failure.sh
+```
+
+### How It Works
+
+1. `setup-triggers.sh` creates a trigger via `POST /api/v1/components/moveit-planning/triggers`:
+   - **Resource:** `/api/v1/components/moveit-planning/faults` (watches fault collection)
+   - **Condition:** `OnChange` (fires on any new or updated fault)
+   - **Multishot:** `true` (fires repeatedly, not just once)
+   - **Lifetime:** 3600 seconds (auto-expires after 1 hour)
+2. `watch-triggers.sh` connects to the SSE event stream at the trigger's `event_source` URL
+3. When a fault is injected and detected by the gateway, the trigger fires and an SSE event is delivered
+
+### Manual API Usage
+
+```bash
+# Create a trigger
+curl -X POST http://localhost:8080/api/v1/components/moveit-planning/triggers \
+  -H "Content-Type: application/json" \
+  -d '{
+    "resource": "/api/v1/components/moveit-planning/faults",
+    "trigger_condition": {"condition_type": "OnChange"},
+    "multishot": true,
+    "lifetime": 3600
+  }' | jq
+
+# List triggers
+curl http://localhost:8080/api/v1/components/moveit-planning/triggers | jq
+
+# Watch events (replace TRIGGER_ID)
+curl -N http://localhost:8080/api/v1/components/moveit-planning/triggers/TRIGGER_ID/events
+
+# Delete a trigger
+curl -X DELETE http://localhost:8080/api/v1/components/moveit-planning/triggers/TRIGGER_ID
+```
+
 ## 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.
diff --git a/demos/sensor_diagnostics/README.md b/demos/sensor_diagnostics/README.md
index c6db136..2aea857 100644
--- a/demos/sensor_diagnostics/README.md
+++ b/demos/sensor_diagnostics/README.md
@@ -184,6 +184,57 @@ GATEWAY_URL=http://192.168.1.10:8080 ./inject-nan.sh
 | `inject-noise` | Inject high noise on LiDAR and Camera |
 | `restore-normal` | Reset all sensors and clear faults |
 
+## Triggers (Condition-Based Alerts)
+
+The gateway supports condition-based triggers that fire when specific events occur, delivering notifications via Server-Sent Events (SSE). This demo creates a fault-monitoring trigger that alerts whenever a new fault is reported.
+
+### Setup
+
+```bash
+# Terminal 1: Start the demo
+./run-demo.sh
+
+# Terminal 2: Create fault trigger and watch for events
+./setup-triggers.sh       # Creates OnChange trigger on compute-unit faults
+./watch-triggers.sh       # Connects to SSE stream (Ctrl+C to stop)
+
+# Terminal 3: Inject a fault - trigger fires!
+./inject-nan.sh
+```
+
+### How It Works
+
+1. `setup-triggers.sh` creates a trigger via `POST /api/v1/components/compute-unit/triggers`:
+   - **Resource:** `/api/v1/components/compute-unit/faults` (watches fault collection)
+   - **Condition:** `OnChange` (fires on any new or updated fault)
+   - **Multishot:** `true` (fires repeatedly, not just once)
+   - **Lifetime:** 3600 seconds (auto-expires after 1 hour)
+2. `watch-triggers.sh` connects to the SSE event stream at the trigger's `event_source` URL
+3. When a fault is injected and detected by the gateway, the trigger fires and an SSE event is delivered
+
+### Manual API Usage
+
+```bash
+# Create a trigger
+curl -X POST http://localhost:8080/api/v1/components/compute-unit/triggers \
+  -H "Content-Type: application/json" \
+  -d '{
+    "resource": "/api/v1/components/compute-unit/faults",
+    "trigger_condition": {"condition_type": "OnChange"},
+    "multishot": true,
+    "lifetime": 3600
+  }' | jq
+
+# List triggers
+curl http://localhost:8080/api/v1/components/compute-unit/triggers | jq
+
+# Watch events (replace TRIGGER_ID)
+curl -N http://localhost:8080/api/v1/components/compute-unit/triggers/TRIGGER_ID/events
+
+# Delete a trigger
+curl -X DELETE http://localhost:8080/api/v1/components/compute-unit/triggers/TRIGGER_ID
+```
+
 ## API Examples
 
 ### Read Sensor Data
diff --git a/demos/turtlebot3_integration/README.md b/demos/turtlebot3_integration/README.md
index 079e156..b4e9ca3 100644
--- a/demos/turtlebot3_integration/README.md
+++ b/demos/turtlebot3_integration/README.md
@@ -400,6 +400,57 @@ GATEWAY_URL=http://192.168.1.10:8080 ./inject-nav-failure.sh
 | `inject-nav-failure` | Inject navigation failure (unreachable goal) |
 | `restore-normal` | Reset parameters and clear faults |
 
+## Triggers (Condition-Based Alerts)
+
+The gateway supports condition-based triggers that fire when specific events occur, delivering notifications via Server-Sent Events (SSE). This demo creates a fault-monitoring trigger that alerts on navigation failure faults on the nav2-stack component.
+
+### Setup
+
+```bash
+# Terminal 1: Start the demo
+./run-demo.sh
+
+# Terminal 2: Create fault trigger and watch for events
+./setup-triggers.sh       # Creates OnChange trigger on nav2-stack faults
+./watch-triggers.sh       # Connects to SSE stream (Ctrl+C to stop)
+
+# Terminal 3: Inject a fault - trigger fires!
+./inject-nav-failure.sh
+```
+
+### How It Works
+
+1. `setup-triggers.sh` creates a trigger via `POST /api/v1/components/nav2-stack/triggers`:
+   - **Resource:** `/api/v1/components/nav2-stack/faults` (watches fault collection)
+   - **Condition:** `OnChange` (fires on any new or updated fault)
+   - **Multishot:** `true` (fires repeatedly, not just once)
+   - **Lifetime:** 3600 seconds (auto-expires after 1 hour)
+2. `watch-triggers.sh` connects to the SSE event stream at the trigger's `event_source` URL
+3. When a fault is injected and detected by the gateway, the trigger fires and an SSE event is delivered
+
+### Manual API Usage
+
+```bash
+# Create a trigger
+curl -X POST http://localhost:8080/api/v1/components/nav2-stack/triggers \
+  -H "Content-Type: application/json" \
+  -d '{
+    "resource": "/api/v1/components/nav2-stack/faults",
+    "trigger_condition": {"condition_type": "OnChange"},
+    "multishot": true,
+    "lifetime": 3600
+  }' | jq
+
+# List triggers
+curl http://localhost:8080/api/v1/components/nav2-stack/triggers | jq
+
+# Watch events (replace TRIGGER_ID)
+curl -N http://localhost:8080/api/v1/components/nav2-stack/triggers/TRIGGER_ID/events
+
+# Delete a trigger
+curl -X DELETE http://localhost:8080/api/v1/components/nav2-stack/triggers/TRIGGER_ID
+```
+
 ## Fault Injection Scenarios
 
 This demo includes scripts to inject various fault conditions for testing fault management.

From 0e505186a200756b519ab2a46c64248921842988 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Sun, 22 Mar 2026 21:20:38 +0100
Subject: [PATCH 07/16] fix: use API path instead of full URL in trigger
 resource field

---
 lib/triggers-api.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/lib/triggers-api.sh b/lib/triggers-api.sh
index 6f11d9e..ec5d069 100644
--- a/lib/triggers-api.sh
+++ b/lib/triggers-api.sh
@@ -36,7 +36,7 @@ create_fault_trigger() {
 
     check_gateway
 
-    local resource="${API_BASE}/${entity_type}/${entity_id}/faults"
+    local resource="/api/v1/${entity_type}/${entity_id}/faults"
     local body
     body=$(jq -n \
         --arg resource "$resource" \

From ebbc28e04eb4ba37df6e02e2af98262477fb0390 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Sun, 22 Mar 2026 21:29:31 +0100
Subject: [PATCH 08/16] fix: add connect-timeout and close message to SSE
 watcher

---
 lib/triggers-api.sh | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/lib/triggers-api.sh b/lib/triggers-api.sh
index ec5d069..3ec7334 100644
--- a/lib/triggers-api.sh
+++ b/lib/triggers-api.sh
@@ -119,7 +119,7 @@ watch_trigger_events() {
     echo "---"
 
     # Stream SSE events, filter out keepalives, pretty-print JSON data lines
-    curl -sf -N "${url}" 2>/dev/null | while IFS= read -r line; do
+    curl -sf -N --connect-timeout 10 "${url}" 2>/dev/null | while IFS= read -r line; do
         # Skip empty lines and keepalive comments
         if [ -z "$line" ] || [[ "$line" == ":"* ]]; then
             continue
@@ -141,6 +141,10 @@ watch_trigger_events() {
             fi
         fi
     done
+
+    echo ""
+    echo "SSE stream closed. The trigger may have expired or the gateway restarted."
+    echo "Re-run ./setup-triggers.sh and ./watch-triggers.sh to reconnect."
 }
 
 # Find the first active trigger for an entity

From 0e4ce5a029feac77e94bb9bfddc888fdc5e475b8 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Sun, 22 Mar 2026 21:31:44 +0100
Subject: [PATCH 09/16] fix: add idempotency guard and response validation to
 setup-triggers

---
 demos/moveit_pick_place/setup-triggers.sh      | 18 +++++++++++++++++-
 demos/sensor_diagnostics/setup-triggers.sh     | 18 +++++++++++++++++-
 demos/turtlebot3_integration/setup-triggers.sh | 18 +++++++++++++++++-
 3 files changed, 51 insertions(+), 3 deletions(-)

diff --git a/demos/moveit_pick_place/setup-triggers.sh b/demos/moveit_pick_place/setup-triggers.sh
index df24605..73fe819 100755
--- a/demos/moveit_pick_place/setup-triggers.sh
+++ b/demos/moveit_pick_place/setup-triggers.sh
@@ -9,11 +9,27 @@ source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
 ENTITY_TYPE="components"
 ENTITY_ID="moveit-planning"
 
+# Check for existing active trigger
+existing=$(find_active_trigger "$ENTITY_TYPE" "$ENTITY_ID")
+if [ -n "$existing" ]; then
+    echo "Active trigger already exists: ${existing}"
+    echo "Run ./watch-triggers.sh to connect, or delete it first:"
+    echo "  curl -X DELETE ${GATEWAY_URL}/api/v1/${ENTITY_TYPE}/${ENTITY_ID}/triggers/${existing}"
+    exit 0
+fi
+
 echo "Setting up fault trigger for ${ENTITY_TYPE}/${ENTITY_ID}..."
 echo ""
 
 result=$(create_fault_trigger "$ENTITY_TYPE" "$ENTITY_ID")
 trigger_id=$(echo "$result" | jq -r '.id')
+
+if [ -z "$trigger_id" ] || [ "$trigger_id" = "null" ]; then
+    echo "Failed to parse trigger response." >&2
+    echo "$result" >&2
+    exit 1
+fi
+
 status=$(echo "$result" | jq -r '.status')
 event_source=$(echo "$result" | jq -r '.event_source')
 
@@ -23,7 +39,7 @@ echo "  Status: ${status}"
 echo "  Events: ${GATEWAY_URL}${event_source}"
 echo ""
 echo "To watch for events:"
-echo "  ./watch-triggers.sh"
+echo "  ./watch-triggers.sh ${trigger_id}"
 echo ""
 echo "Then inject a fault in another terminal:"
 echo "  ./inject-planning-failure.sh"
diff --git a/demos/sensor_diagnostics/setup-triggers.sh b/demos/sensor_diagnostics/setup-triggers.sh
index 3398384..48765ed 100755
--- a/demos/sensor_diagnostics/setup-triggers.sh
+++ b/demos/sensor_diagnostics/setup-triggers.sh
@@ -9,11 +9,27 @@ source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
 ENTITY_TYPE="components"
 ENTITY_ID="compute-unit"
 
+# Check for existing active trigger
+existing=$(find_active_trigger "$ENTITY_TYPE" "$ENTITY_ID")
+if [ -n "$existing" ]; then
+    echo "Active trigger already exists: ${existing}"
+    echo "Run ./watch-triggers.sh to connect, or delete it first:"
+    echo "  curl -X DELETE ${GATEWAY_URL}/api/v1/${ENTITY_TYPE}/${ENTITY_ID}/triggers/${existing}"
+    exit 0
+fi
+
 echo "Setting up fault trigger for ${ENTITY_TYPE}/${ENTITY_ID}..."
 echo ""
 
 result=$(create_fault_trigger "$ENTITY_TYPE" "$ENTITY_ID")
 trigger_id=$(echo "$result" | jq -r '.id')
+
+if [ -z "$trigger_id" ] || [ "$trigger_id" = "null" ]; then
+    echo "Failed to parse trigger response." >&2
+    echo "$result" >&2
+    exit 1
+fi
+
 status=$(echo "$result" | jq -r '.status')
 event_source=$(echo "$result" | jq -r '.event_source')
 
@@ -23,7 +39,7 @@ echo "  Status: ${status}"
 echo "  Events: ${GATEWAY_URL}${event_source}"
 echo ""
 echo "To watch for events:"
-echo "  ./watch-triggers.sh"
+echo "  ./watch-triggers.sh ${trigger_id}"
 echo ""
 echo "Then inject a fault in another terminal:"
 echo "  ./inject-nan.sh"
diff --git a/demos/turtlebot3_integration/setup-triggers.sh b/demos/turtlebot3_integration/setup-triggers.sh
index 6d41a83..d076afc 100755
--- a/demos/turtlebot3_integration/setup-triggers.sh
+++ b/demos/turtlebot3_integration/setup-triggers.sh
@@ -9,11 +9,27 @@ source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
 ENTITY_TYPE="components"
 ENTITY_ID="nav2-stack"
 
+# Check for existing active trigger
+existing=$(find_active_trigger "$ENTITY_TYPE" "$ENTITY_ID")
+if [ -n "$existing" ]; then
+    echo "Active trigger already exists: ${existing}"
+    echo "Run ./watch-triggers.sh to connect, or delete it first:"
+    echo "  curl -X DELETE ${GATEWAY_URL}/api/v1/${ENTITY_TYPE}/${ENTITY_ID}/triggers/${existing}"
+    exit 0
+fi
+
 echo "Setting up fault trigger for ${ENTITY_TYPE}/${ENTITY_ID}..."
 echo ""
 
 result=$(create_fault_trigger "$ENTITY_TYPE" "$ENTITY_ID")
 trigger_id=$(echo "$result" | jq -r '.id')
+
+if [ -z "$trigger_id" ] || [ "$trigger_id" = "null" ]; then
+    echo "Failed to parse trigger response." >&2
+    echo "$result" >&2
+    exit 1
+fi
+
 status=$(echo "$result" | jq -r '.status')
 event_source=$(echo "$result" | jq -r '.event_source')
 
@@ -23,7 +39,7 @@ echo "  Status: ${status}"
 echo "  Events: ${GATEWAY_URL}${event_source}"
 echo ""
 echo "To watch for events:"
-echo "  ./watch-triggers.sh"
+echo "  ./watch-triggers.sh ${trigger_id}"
 echo ""
 echo "Then inject a fault in another terminal:"
 echo "  ./inject-nav-failure.sh"

From 2d2a158d2a49c3c5a94d567b8a4985b818a10758 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Sun, 22 Mar 2026 21:33:01 +0100
Subject: [PATCH 10/16] fix: add ordering guidance to trigger hints in
 run-demo.sh

---
 demos/moveit_pick_place/run-demo.sh      | 5 +++--
 demos/sensor_diagnostics/run-demo.sh     | 5 +++--
 demos/turtlebot3_integration/run-demo.sh | 5 +++--
 3 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/demos/moveit_pick_place/run-demo.sh b/demos/moveit_pick_place/run-demo.sh
index fd2e2fb..6b7a0a5 100755
--- a/demos/moveit_pick_place/run-demo.sh
+++ b/demos/moveit_pick_place/run-demo.sh
@@ -167,8 +167,9 @@ if [[ "$DETACH_MODE" == "true" ]]; then
     echo "   docker exec -it moveit_medkit_demo_nvidia bash # NVIDIA"
     echo ""
     echo "📡 Triggers (condition-based alerts):"
-    echo "   ./setup-triggers.sh     # Create fault alert trigger"
-    echo "   ./watch-triggers.sh     # Watch trigger events (SSE stream)"
+    echo "   1. ./setup-triggers.sh         # Create fault alert trigger"
+    echo "   2. ./watch-triggers.sh         # Watch events in a new terminal (blocking)"
+    echo "   3. ./inject-planning-failure.sh # Inject a fault to fire the trigger"
     echo ""
     echo "🛑 To stop: ./stop-demo.sh"
 fi
diff --git a/demos/sensor_diagnostics/run-demo.sh b/demos/sensor_diagnostics/run-demo.sh
index 6b03f9c..1559a6a 100755
--- a/demos/sensor_diagnostics/run-demo.sh
+++ b/demos/sensor_diagnostics/run-demo.sh
@@ -127,8 +127,9 @@ if [[ "$DETACH_MODE" == "true" ]]; then
     echo "   ./restore-normal.sh      # Restore normal operation"
     echo ""
     echo "📡 Triggers (condition-based alerts):"
-    echo "   ./setup-triggers.sh     # Create fault alert trigger"
-    echo "   ./watch-triggers.sh     # Watch trigger events (SSE stream)"
+    echo "   1. ./setup-triggers.sh     # Create fault alert trigger"
+    echo "   2. ./watch-triggers.sh     # Watch events in a new terminal (blocking)"
+    echo "   3. ./inject-nan.sh         # Inject a fault to fire the trigger"
     echo ""
     echo "🌐 Web UI: http://localhost:3000"
     echo "🌐 REST API: http://localhost:8080/api/v1/"
diff --git a/demos/turtlebot3_integration/run-demo.sh b/demos/turtlebot3_integration/run-demo.sh
index a11113b..0b0dbf2 100755
--- a/demos/turtlebot3_integration/run-demo.sh
+++ b/demos/turtlebot3_integration/run-demo.sh
@@ -174,8 +174,9 @@ if [[ "$DETACH_MODE" == "true" ]]; then
     echo "   docker exec -it turtlebot3_medkit_demo_nvidia bash # NVIDIA"
     echo ""
     echo "📡 Triggers (condition-based alerts):"
-    echo "   ./setup-triggers.sh     # Create fault alert trigger"
-    echo "   ./watch-triggers.sh     # Watch trigger events (SSE stream)"
+    echo "   1. ./setup-triggers.sh     # Create fault alert trigger"
+    echo "   2. ./watch-triggers.sh     # Watch events in a new terminal (blocking)"
+    echo "   3. ./inject-nav-failure.sh # Inject a fault to fire the trigger"
     echo ""
     echo "🛑 To stop: ./stop-demo.sh"
 fi

From b2667a580e4a084829657bb02df935d5337a161b Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Sun, 22 Mar 2026 21:44:50 +0100
Subject: [PATCH 11/16] fix: improve README terminal workflow, add scripts to
 tables, clean em dashes

---
 demos/moveit_pick_place/README.md      | 68 ++++++++++++++------------
 demos/sensor_diagnostics/README.md     | 12 +++--
 demos/turtlebot3_integration/README.md | 12 +++--
 3 files changed, 52 insertions(+), 40 deletions(-)

diff --git a/demos/moveit_pick_place/README.md b/demos/moveit_pick_place/README.md
index 9374e10..46343d2 100644
--- a/demos/moveit_pick_place/README.md
+++ b/demos/moveit_pick_place/README.md
@@ -1,10 +1,10 @@
 # MoveIt 2 Pick-and-Place Integration Demo
 
-A comprehensive integration demo combining a **Panda 7-DOF robot arm** with **MoveIt 2** motion planning and **ros2_medkit** SOVD-compliant diagnostics. The robot performs continuous pick-and-place cycles in a **Gazebo Harmonic factory scene** while a manipulation monitor detects faults — planning failures, collisions — and reports them through the SOVD REST API with environment snapshots.
+A comprehensive integration demo combining a **Panda 7-DOF robot arm** with **MoveIt 2** motion planning and **ros2_medkit** SOVD-compliant diagnostics. The robot performs continuous pick-and-place cycles in a **Gazebo Harmonic factory scene** while a manipulation monitor detects faults - planning failures, collisions - and reports them through the SOVD REST API with environment snapshots.
 
 ## Status
 
-✅ **Demo Ready** — Docker-based deployment with MoveIt 2, Gazebo Harmonic physics simulation, factory environment, and full ros2_medkit stack.
+✅ **Demo Ready** - Docker-based deployment with MoveIt 2, Gazebo Harmonic physics simulation, factory environment, and full ros2_medkit stack.
 
 ## Overview
 
@@ -14,7 +14,7 @@ This demo demonstrates:
 - **Gazebo Harmonic simulation** with a realistic factory scene (conveyor belt, work table, storage, lighting)
 - **Continuous pick-and-place** loop as a realistic manipulation workload
 - **Manipulation fault monitoring** (planning failures, collision detection)
-- **Fault snapshots** — environment state captured at fault time (joint states, diagnostics)
+- **Fault snapshots** - environment state captured at fault time (joint states, diagnostics)
 - **SOVD-compliant REST API** with Areas → Components → Apps → Functions hierarchy
 - **Manifest-based entity discovery** (hybrid mode with runtime enrichment)
 - **2 fault injection scenarios** with visible Gazebo models and one-click scripts
@@ -25,7 +25,7 @@ This demo demonstrates:
 - 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
+- (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
 
 ## Quick Start
@@ -129,37 +129,37 @@ docker exec -it moveit_medkit_demo bash      # Shell into container
 
 ```
 Areas
-├── manipulation/        — Robot arm and gripper hardware
+├── manipulation/        - Robot arm and gripper hardware
 │   Components
-│   ├── panda-arm        — 7-DOF Franka Emika Panda
+│   ├── panda-arm        - 7-DOF Franka Emika Panda
 │   │   Apps: joint-state-broadcaster, panda-arm-controller, robot-state-publisher
-│   └── panda-gripper    — 2-finger parallel gripper
+│   └── panda-gripper    - 2-finger parallel gripper
 │       Apps: panda-hand-controller
 │
-├── planning/            — MoveIt 2 motion planning stack
+├── planning/            - MoveIt 2 motion planning stack
 │   Components
-│   ├── moveit-planning  — OMPL planning pipeline
+│   ├── moveit-planning  - OMPL planning pipeline
 │   │   Apps: move-group
-│   └── pick-place-loop — Pick-and-place demo node
+│   └── pick-place-loop - Pick-and-place demo node
 │       Apps: pick-place-node
 │
-├── diagnostics/         — ros2_medkit gateway and fault management
+├── diagnostics/         - ros2_medkit gateway and fault management
 │   Components
-│   ├── gateway          — REST API
+│   ├── gateway          - REST API
 │   │   Apps: medkit-gateway
-│   └── fault-manager    — Fault aggregation
+│   └── fault-manager    - Fault aggregation
 │       Apps: medkit-fault-manager
 │
-└── bridge/              — Legacy diagnostics bridge
+└── bridge/              - Legacy diagnostics bridge
     Components
     └── diagnostic-bridge
         Apps: diagnostic-bridge-app, manipulation-monitor
 
 Functions
-├── pick-and-place       — Pick objects and place at target positions
-├── motion-planning      — Plan collision-free motion trajectories
-├── gripper-control      — Open and close the Panda gripper
-└── fault-management     — Collect and expose faults via SOVD API
+├── pick-and-place       - Pick objects and place at target positions
+├── motion-planning      - Plan collision-free motion trajectories
+├── gripper-control      - Open and close the Panda gripper
+└── fault-management     - Collect and expose faults via SOVD API
 ```
 
 ## REST API Examples
@@ -223,8 +223,8 @@ curl http://localhost:8080/api/v1/apps/manipulation-monitor/faults/MOTION_PLANNI
 ```
 
 Captured topics (background capture, always available):
-- `/joint_states` — Current joint positions at fault time
-- `/diagnostics` — Active diagnostics messages
+- `/joint_states` - Current joint positions at fault time
+- `/diagnostics` - Active diagnostics messages
 
 ### Modify Configurations via REST API
 
@@ -294,11 +294,13 @@ The gateway supports condition-based triggers that fire when specific events occ
 # Terminal 1: Start the demo
 ./run-demo.sh
 
-# Terminal 2: Create fault trigger and watch for events
-./setup-triggers.sh       # Creates OnChange trigger on moveit-planning faults
-./watch-triggers.sh       # Connects to SSE stream (Ctrl+C to stop)
+# Terminal 2: Create the fault trigger
+./setup-triggers.sh
 
-# Terminal 3: Inject a fault - trigger fires!
+# Terminal 3: Watch for trigger events (blocking - Ctrl+C to stop)
+./watch-triggers.sh
+
+# Terminal 2: Inject a fault - the trigger fires in Terminal 3!
 ./inject-planning-failure.sh
 ```
 
@@ -349,7 +351,7 @@ Blocks the robot's path with a large collision wall (visible as orange wall in G
 
 | Code | Severity | Description |
 |------|----------|-------------|
-| `MOTION_PLANNING_FAILED` | ERROR | MoveGroup goal ABORTED — no collision-free path |
+| `MOTION_PLANNING_FAILED` | ERROR | MoveGroup goal ABORTED - no collision-free path |
 
 ### 2. Collision Detection
 
@@ -397,16 +399,18 @@ Connect it to the gateway at `http://localhost:8080` to browse:
 
 | Script | Description |
 |--------|-------------|
-| `run-demo.sh` | **Start the demo** — build and launch the Docker container |
+| `run-demo.sh` | **Start the demo** - build and launch the Docker container |
 | `stop-demo.sh` | Stop demo containers |
-| `move-arm.sh` | **Interactive arm controller** — move to preset positions |
+| `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` | 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 |
+| `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 |
+| `setup-triggers.sh` | Create OnChange fault trigger |
+| `watch-triggers.sh` | Watch trigger events via SSE stream |
 
 Scripts API wrappers require `curl` and `jq` on the host and call the gateway REST endpoint directly - no `docker exec` needed.
 
diff --git a/demos/sensor_diagnostics/README.md b/demos/sensor_diagnostics/README.md
index 2aea857..2554b5e 100644
--- a/demos/sensor_diagnostics/README.md
+++ b/demos/sensor_diagnostics/README.md
@@ -194,11 +194,13 @@ The gateway supports condition-based triggers that fire when specific events occ
 # Terminal 1: Start the demo
 ./run-demo.sh
 
-# Terminal 2: Create fault trigger and watch for events
-./setup-triggers.sh       # Creates OnChange trigger on compute-unit faults
-./watch-triggers.sh       # Connects to SSE stream (Ctrl+C to stop)
+# Terminal 2: Create the fault trigger
+./setup-triggers.sh
 
-# Terminal 3: Inject a fault - trigger fires!
+# Terminal 3: Watch for trigger events (blocking - Ctrl+C to stop)
+./watch-triggers.sh
+
+# Terminal 2: Inject a fault - the trigger fires in Terminal 3!
 ./inject-nan.sh
 ```
 
@@ -310,6 +312,8 @@ curl http://localhost:8080/api/v1/faults | jq
 | `inject-nan.sh` | Inject NaN values |
 | `inject-drift.sh` | Enable sensor drift |
 | `restore-normal.sh` | Clear all faults |
+| `setup-triggers.sh` | Create OnChange fault trigger |
+| `watch-triggers.sh` | Watch trigger events via SSE stream |
 
 > **Note:** All diagnostic scripts (`inject-*.sh`, `restore-normal.sh`, `run-diagnostics.sh`, `inject-fault-scenario.sh`) are also available via the [Scripts API](#scripts-api) - callable as REST endpoints without requiring the host-side scripts.
 
diff --git a/demos/turtlebot3_integration/README.md b/demos/turtlebot3_integration/README.md
index b4e9ca3..22902ee 100644
--- a/demos/turtlebot3_integration/README.md
+++ b/demos/turtlebot3_integration/README.md
@@ -410,11 +410,13 @@ The gateway supports condition-based triggers that fire when specific events occ
 # Terminal 1: Start the demo
 ./run-demo.sh
 
-# Terminal 2: Create fault trigger and watch for events
-./setup-triggers.sh       # Creates OnChange trigger on nav2-stack faults
-./watch-triggers.sh       # Connects to SSE stream (Ctrl+C to stop)
+# Terminal 2: Create the fault trigger
+./setup-triggers.sh
 
-# Terminal 3: Inject a fault - trigger fires!
+# Terminal 3: Watch for trigger events (blocking - Ctrl+C to stop)
+./watch-triggers.sh
+
+# Terminal 2: Inject a fault - the trigger fires in Terminal 3!
 ./inject-nav-failure.sh
 ```
 
@@ -594,6 +596,8 @@ demos/turtlebot3_integration/
 | `inject-nav-failure.sh` | Inject navigation failure (unreachable goal) |
 | `inject-localization-failure.sh` | Inject localization failure (AMCL reset) |
 | `restore-normal.sh` | Restore normal operation and clear faults |
+| `setup-triggers.sh` | Create OnChange fault trigger |
+| `watch-triggers.sh` | Watch trigger events via SSE stream |
 
 > **Note:** The inject, restore, and diagnostic scripts are also available via the [Scripts API](#scripts-api) - callable as REST endpoints without requiring the host-side scripts.
 

From be6bbe68ea4755e205326fc7d894d9b850851d11 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Sun, 22 Mar 2026 23:05:07 +0100
Subject: [PATCH 12/16] fix: use correct entity IDs for fault triggers (match
 reporting_sources)

Triggers must target the entity whose ROS node name appears in
reporting_sources[0] of the FaultEvent. The TriggerFaultSubscriber
extracts entity_id from this field.

- sensor_diagnostics: apps/diagnostic_bridge (was components/compute-unit)
- turtlebot3: apps/anomaly_detector (was components/nav2-stack)
- moveit: apps/manipulation_monitor (was components/moveit-planning)

Verified end-to-end: setup-triggers -> watch-triggers -> inject-nan
produces SSE events with fault payloads.
---
 demos/moveit_pick_place/README.md              | 16 ++++++++--------
 demos/moveit_pick_place/setup-triggers.sh      |  6 +++---
 demos/moveit_pick_place/watch-triggers.sh      |  4 ++--
 demos/sensor_diagnostics/README.md             | 14 +++++++-------
 demos/sensor_diagnostics/setup-triggers.sh     |  6 +++---
 demos/sensor_diagnostics/watch-triggers.sh     |  4 ++--
 demos/turtlebot3_integration/README.md         | 16 ++++++++--------
 demos/turtlebot3_integration/setup-triggers.sh |  6 +++---
 demos/turtlebot3_integration/watch-triggers.sh |  4 ++--
 9 files changed, 38 insertions(+), 38 deletions(-)

diff --git a/demos/moveit_pick_place/README.md b/demos/moveit_pick_place/README.md
index 46343d2..9a300b7 100644
--- a/demos/moveit_pick_place/README.md
+++ b/demos/moveit_pick_place/README.md
@@ -286,7 +286,7 @@ The host-side wrapper scripts (`./inject-collision.sh`, etc.) call the Scripts A
 
 ## Triggers (Condition-Based Alerts)
 
-The gateway supports condition-based triggers that fire when specific events occur, delivering notifications via Server-Sent Events (SSE). This demo creates a fault-monitoring trigger that alerts on planning failure faults on the moveit-planning component.
+The gateway supports condition-based triggers that fire when specific events occur, delivering notifications via Server-Sent Events (SSE). This demo creates a fault-monitoring trigger that alerts on planning failure faults reported by the manipulation monitor.
 
 ### Setup
 
@@ -306,8 +306,8 @@ The gateway supports condition-based triggers that fire when specific events occ
 
 ### How It Works
 
-1. `setup-triggers.sh` creates a trigger via `POST /api/v1/components/moveit-planning/triggers`:
-   - **Resource:** `/api/v1/components/moveit-planning/faults` (watches fault collection)
+1. `setup-triggers.sh` creates a trigger via `POST /api/v1/apps/manipulation_monitor/triggers`:
+   - **Resource:** `/api/v1/apps/manipulation_monitor/faults` (watches fault collection)
    - **Condition:** `OnChange` (fires on any new or updated fault)
    - **Multishot:** `true` (fires repeatedly, not just once)
    - **Lifetime:** 3600 seconds (auto-expires after 1 hour)
@@ -318,23 +318,23 @@ The gateway supports condition-based triggers that fire when specific events occ
 
 ```bash
 # Create a trigger
-curl -X POST http://localhost:8080/api/v1/components/moveit-planning/triggers \
+curl -X POST http://localhost:8080/api/v1/apps/manipulation_monitor/triggers \
   -H "Content-Type: application/json" \
   -d '{
-    "resource": "/api/v1/components/moveit-planning/faults",
+    "resource": "/api/v1/apps/manipulation_monitor/faults",
     "trigger_condition": {"condition_type": "OnChange"},
     "multishot": true,
     "lifetime": 3600
   }' | jq
 
 # List triggers
-curl http://localhost:8080/api/v1/components/moveit-planning/triggers | jq
+curl http://localhost:8080/api/v1/apps/manipulation_monitor/triggers | jq
 
 # Watch events (replace TRIGGER_ID)
-curl -N http://localhost:8080/api/v1/components/moveit-planning/triggers/TRIGGER_ID/events
+curl -N http://localhost:8080/api/v1/apps/manipulation_monitor/triggers/TRIGGER_ID/events
 
 # Delete a trigger
-curl -X DELETE http://localhost:8080/api/v1/components/moveit-planning/triggers/TRIGGER_ID
+curl -X DELETE http://localhost:8080/api/v1/apps/manipulation_monitor/triggers/TRIGGER_ID
 ```
 
 ## Fault Injection Scenarios
diff --git a/demos/moveit_pick_place/setup-triggers.sh b/demos/moveit_pick_place/setup-triggers.sh
index 73fe819..5562f8a 100755
--- a/demos/moveit_pick_place/setup-triggers.sh
+++ b/demos/moveit_pick_place/setup-triggers.sh
@@ -1,13 +1,13 @@
 #!/bin/bash
 # Create fault-monitoring trigger for moveit pick-and-place demo
-# Alerts on planning failure faults on the moveit-planning component
+# Alerts on planning failure faults reported by the manipulation monitor
 set -eu
 SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
 # shellcheck disable=SC1091
 source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
 
-ENTITY_TYPE="components"
-ENTITY_ID="moveit-planning"
+ENTITY_TYPE="apps"
+ENTITY_ID="manipulation_monitor"
 
 # Check for existing active trigger
 existing=$(find_active_trigger "$ENTITY_TYPE" "$ENTITY_ID")
diff --git a/demos/moveit_pick_place/watch-triggers.sh b/demos/moveit_pick_place/watch-triggers.sh
index 7045028..9eaa6eb 100755
--- a/demos/moveit_pick_place/watch-triggers.sh
+++ b/demos/moveit_pick_place/watch-triggers.sh
@@ -6,8 +6,8 @@ SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
 # shellcheck disable=SC1091
 source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
 
-ENTITY_TYPE="components"
-ENTITY_ID="moveit-planning"
+ENTITY_TYPE="apps"
+ENTITY_ID="manipulation_monitor"
 
 trigger_id="${1:-}"
 
diff --git a/demos/sensor_diagnostics/README.md b/demos/sensor_diagnostics/README.md
index 2554b5e..d89a033 100644
--- a/demos/sensor_diagnostics/README.md
+++ b/demos/sensor_diagnostics/README.md
@@ -206,8 +206,8 @@ The gateway supports condition-based triggers that fire when specific events occ
 
 ### How It Works
 
-1. `setup-triggers.sh` creates a trigger via `POST /api/v1/components/compute-unit/triggers`:
-   - **Resource:** `/api/v1/components/compute-unit/faults` (watches fault collection)
+1. `setup-triggers.sh` creates a trigger via `POST /api/v1/apps/diagnostic_bridge/triggers`:
+   - **Resource:** `/api/v1/apps/diagnostic_bridge/faults` (watches fault collection)
    - **Condition:** `OnChange` (fires on any new or updated fault)
    - **Multishot:** `true` (fires repeatedly, not just once)
    - **Lifetime:** 3600 seconds (auto-expires after 1 hour)
@@ -218,23 +218,23 @@ The gateway supports condition-based triggers that fire when specific events occ
 
 ```bash
 # Create a trigger
-curl -X POST http://localhost:8080/api/v1/components/compute-unit/triggers \
+curl -X POST http://localhost:8080/api/v1/apps/diagnostic_bridge/triggers \
   -H "Content-Type: application/json" \
   -d '{
-    "resource": "/api/v1/components/compute-unit/faults",
+    "resource": "/api/v1/apps/diagnostic_bridge/faults",
     "trigger_condition": {"condition_type": "OnChange"},
     "multishot": true,
     "lifetime": 3600
   }' | jq
 
 # List triggers
-curl http://localhost:8080/api/v1/components/compute-unit/triggers | jq
+curl http://localhost:8080/api/v1/apps/diagnostic_bridge/triggers | jq
 
 # Watch events (replace TRIGGER_ID)
-curl -N http://localhost:8080/api/v1/components/compute-unit/triggers/TRIGGER_ID/events
+curl -N http://localhost:8080/api/v1/apps/diagnostic_bridge/triggers/TRIGGER_ID/events
 
 # Delete a trigger
-curl -X DELETE http://localhost:8080/api/v1/components/compute-unit/triggers/TRIGGER_ID
+curl -X DELETE http://localhost:8080/api/v1/apps/diagnostic_bridge/triggers/TRIGGER_ID
 ```
 
 ## API Examples
diff --git a/demos/sensor_diagnostics/setup-triggers.sh b/demos/sensor_diagnostics/setup-triggers.sh
index 48765ed..0e529f0 100755
--- a/demos/sensor_diagnostics/setup-triggers.sh
+++ b/demos/sensor_diagnostics/setup-triggers.sh
@@ -1,13 +1,13 @@
 #!/bin/bash
 # Create fault-monitoring trigger for sensor diagnostics demo
-# Alerts on any new fault reported on the compute-unit component
+# Alerts on any new fault reported via the diagnostic bridge
 set -eu
 SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
 # shellcheck disable=SC1091
 source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
 
-ENTITY_TYPE="components"
-ENTITY_ID="compute-unit"
+ENTITY_TYPE="apps"
+ENTITY_ID="diagnostic_bridge"
 
 # Check for existing active trigger
 existing=$(find_active_trigger "$ENTITY_TYPE" "$ENTITY_ID")
diff --git a/demos/sensor_diagnostics/watch-triggers.sh b/demos/sensor_diagnostics/watch-triggers.sh
index 01cd26a..d4e5ddb 100755
--- a/demos/sensor_diagnostics/watch-triggers.sh
+++ b/demos/sensor_diagnostics/watch-triggers.sh
@@ -6,8 +6,8 @@ SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
 # shellcheck disable=SC1091
 source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
 
-ENTITY_TYPE="components"
-ENTITY_ID="compute-unit"
+ENTITY_TYPE="apps"
+ENTITY_ID="diagnostic_bridge"
 
 trigger_id="${1:-}"
 
diff --git a/demos/turtlebot3_integration/README.md b/demos/turtlebot3_integration/README.md
index 22902ee..80dcaee 100644
--- a/demos/turtlebot3_integration/README.md
+++ b/demos/turtlebot3_integration/README.md
@@ -402,7 +402,7 @@ GATEWAY_URL=http://192.168.1.10:8080 ./inject-nav-failure.sh
 
 ## Triggers (Condition-Based Alerts)
 
-The gateway supports condition-based triggers that fire when specific events occur, delivering notifications via Server-Sent Events (SSE). This demo creates a fault-monitoring trigger that alerts on navigation failure faults on the nav2-stack component.
+The gateway supports condition-based triggers that fire when specific events occur, delivering notifications via Server-Sent Events (SSE). This demo creates a fault-monitoring trigger that alerts on navigation failure faults reported by the anomaly detector.
 
 ### Setup
 
@@ -422,8 +422,8 @@ The gateway supports condition-based triggers that fire when specific events occ
 
 ### How It Works
 
-1. `setup-triggers.sh` creates a trigger via `POST /api/v1/components/nav2-stack/triggers`:
-   - **Resource:** `/api/v1/components/nav2-stack/faults` (watches fault collection)
+1. `setup-triggers.sh` creates a trigger via `POST /api/v1/apps/anomaly_detector/triggers`:
+   - **Resource:** `/api/v1/apps/anomaly_detector/faults` (watches fault collection)
    - **Condition:** `OnChange` (fires on any new or updated fault)
    - **Multishot:** `true` (fires repeatedly, not just once)
    - **Lifetime:** 3600 seconds (auto-expires after 1 hour)
@@ -434,23 +434,23 @@ The gateway supports condition-based triggers that fire when specific events occ
 
 ```bash
 # Create a trigger
-curl -X POST http://localhost:8080/api/v1/components/nav2-stack/triggers \
+curl -X POST http://localhost:8080/api/v1/apps/anomaly_detector/triggers \
   -H "Content-Type: application/json" \
   -d '{
-    "resource": "/api/v1/components/nav2-stack/faults",
+    "resource": "/api/v1/apps/anomaly_detector/faults",
     "trigger_condition": {"condition_type": "OnChange"},
     "multishot": true,
     "lifetime": 3600
   }' | jq
 
 # List triggers
-curl http://localhost:8080/api/v1/components/nav2-stack/triggers | jq
+curl http://localhost:8080/api/v1/apps/anomaly_detector/triggers | jq
 
 # Watch events (replace TRIGGER_ID)
-curl -N http://localhost:8080/api/v1/components/nav2-stack/triggers/TRIGGER_ID/events
+curl -N http://localhost:8080/api/v1/apps/anomaly_detector/triggers/TRIGGER_ID/events
 
 # Delete a trigger
-curl -X DELETE http://localhost:8080/api/v1/components/nav2-stack/triggers/TRIGGER_ID
+curl -X DELETE http://localhost:8080/api/v1/apps/anomaly_detector/triggers/TRIGGER_ID
 ```
 
 ## Fault Injection Scenarios
diff --git a/demos/turtlebot3_integration/setup-triggers.sh b/demos/turtlebot3_integration/setup-triggers.sh
index d076afc..13bea9a 100755
--- a/demos/turtlebot3_integration/setup-triggers.sh
+++ b/demos/turtlebot3_integration/setup-triggers.sh
@@ -1,13 +1,13 @@
 #!/bin/bash
 # Create fault-monitoring trigger for turtlebot3 integration demo
-# Alerts on navigation failure faults on the nav2-stack component
+# Alerts on navigation failure faults reported by the anomaly detector
 set -eu
 SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
 # shellcheck disable=SC1091
 source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
 
-ENTITY_TYPE="components"
-ENTITY_ID="nav2-stack"
+ENTITY_TYPE="apps"
+ENTITY_ID="anomaly_detector"
 
 # Check for existing active trigger
 existing=$(find_active_trigger "$ENTITY_TYPE" "$ENTITY_ID")
diff --git a/demos/turtlebot3_integration/watch-triggers.sh b/demos/turtlebot3_integration/watch-triggers.sh
index 2ac4254..7588178 100755
--- a/demos/turtlebot3_integration/watch-triggers.sh
+++ b/demos/turtlebot3_integration/watch-triggers.sh
@@ -6,8 +6,8 @@ SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
 # shellcheck disable=SC1091
 source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
 
-ENTITY_TYPE="components"
-ENTITY_ID="nav2-stack"
+ENTITY_TYPE="apps"
+ENTITY_ID="anomaly_detector"
 
 trigger_id="${1:-}"
 

From 3b3c53f0fe0c4cca54cb4c2fc6eb2115674efabb Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Mon, 23 Mar 2026 17:10:47 +0100
Subject: [PATCH 13/16] fix: clarify trigger descriptions (OnChange fires on
 any fault, not just specific ones)

---
 demos/moveit_pick_place/README.md              | 2 +-
 demos/moveit_pick_place/setup-triggers.sh      | 3 ++-
 demos/sensor_diagnostics/setup-triggers.sh     | 1 +
 demos/turtlebot3_integration/README.md         | 2 +-
 demos/turtlebot3_integration/setup-triggers.sh | 3 ++-
 5 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/demos/moveit_pick_place/README.md b/demos/moveit_pick_place/README.md
index 9a300b7..61aeab8 100644
--- a/demos/moveit_pick_place/README.md
+++ b/demos/moveit_pick_place/README.md
@@ -286,7 +286,7 @@ The host-side wrapper scripts (`./inject-collision.sh`, etc.) call the Scripts A
 
 ## Triggers (Condition-Based Alerts)
 
-The gateway supports condition-based triggers that fire when specific events occur, delivering notifications via Server-Sent Events (SSE). This demo creates a fault-monitoring trigger that alerts on planning failure faults reported by the manipulation monitor.
+The gateway supports condition-based triggers that fire when specific events occur, delivering notifications via Server-Sent Events (SSE). This demo creates a fault-monitoring trigger that alerts on any new or updated faults reported by the manipulation monitor (including planning failures and collisions).
 
 ### Setup
 
diff --git a/demos/moveit_pick_place/setup-triggers.sh b/demos/moveit_pick_place/setup-triggers.sh
index 5562f8a..3a8ed57 100755
--- a/demos/moveit_pick_place/setup-triggers.sh
+++ b/demos/moveit_pick_place/setup-triggers.sh
@@ -1,12 +1,13 @@
 #!/bin/bash
 # Create fault-monitoring trigger for moveit pick-and-place demo
-# Alerts on planning failure faults reported by the manipulation monitor
+# Alerts on any fault change reported by the manipulation monitor
 set -eu
 SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
 # shellcheck disable=SC1091
 source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
 
 ENTITY_TYPE="apps"
+# Uses ROS node name (underscore) - must match reporting_sources in FaultEvent
 ENTITY_ID="manipulation_monitor"
 
 # Check for existing active trigger
diff --git a/demos/sensor_diagnostics/setup-triggers.sh b/demos/sensor_diagnostics/setup-triggers.sh
index 0e529f0..74824a6 100755
--- a/demos/sensor_diagnostics/setup-triggers.sh
+++ b/demos/sensor_diagnostics/setup-triggers.sh
@@ -7,6 +7,7 @@ SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
 source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
 
 ENTITY_TYPE="apps"
+# Uses ROS node name (underscore) - must match reporting_sources in FaultEvent
 ENTITY_ID="diagnostic_bridge"
 
 # Check for existing active trigger
diff --git a/demos/turtlebot3_integration/README.md b/demos/turtlebot3_integration/README.md
index 80dcaee..2487961 100644
--- a/demos/turtlebot3_integration/README.md
+++ b/demos/turtlebot3_integration/README.md
@@ -402,7 +402,7 @@ GATEWAY_URL=http://192.168.1.10:8080 ./inject-nav-failure.sh
 
 ## Triggers (Condition-Based Alerts)
 
-The gateway supports condition-based triggers that fire when specific events occur, delivering notifications via Server-Sent Events (SSE). This demo creates a fault-monitoring trigger that alerts on navigation failure faults reported by the anomaly detector.
+The gateway supports condition-based triggers that fire when specific events occur, delivering notifications via Server-Sent Events (SSE). This demo creates a fault-monitoring trigger that alerts on any new or updated faults reported by the anomaly detector (including navigation failures).
 
 ### Setup
 
diff --git a/demos/turtlebot3_integration/setup-triggers.sh b/demos/turtlebot3_integration/setup-triggers.sh
index 13bea9a..483a597 100755
--- a/demos/turtlebot3_integration/setup-triggers.sh
+++ b/demos/turtlebot3_integration/setup-triggers.sh
@@ -1,12 +1,13 @@
 #!/bin/bash
 # Create fault-monitoring trigger for turtlebot3 integration demo
-# Alerts on navigation failure faults reported by the anomaly detector
+# Alerts on any fault change reported by the anomaly detector
 set -eu
 SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
 # shellcheck disable=SC1091
 source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
 
 ENTITY_TYPE="apps"
+# Uses ROS node name (underscore) - must match reporting_sources in FaultEvent
 ENTITY_ID="anomaly_detector"
 
 # Check for existing active trigger

From 688710768d32b28152a8726c0fd9be411f85464a Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Mon, 23 Mar 2026 23:02:36 +0100
Subject: [PATCH 14/16] test: add trigger lifecycle to sensor_diagnostics smoke
 test

---
 tests/smoke_test.sh | 63 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 63 insertions(+)

diff --git a/tests/smoke_test.sh b/tests/smoke_test.sh
index b4f61fa..3660400 100755
--- a/tests/smoke_test.sh
+++ b/tests/smoke_test.sh
@@ -114,6 +114,69 @@ if [ "$cleared" = false ]; then
     fail "LIDAR_SIM fault cleared after cleanup" "fault still present after 5s"
 fi
 
+section "Triggers"
+
+# Create a trigger on diagnostic_bridge faults
+echo "  Creating OnChange fault trigger..."
+TRIGGER_RESPONSE=$(curl -s -w "\n%{http_code}" -X POST "${API_BASE}/apps/diagnostic_bridge/triggers" \
+    -H "Content-Type: application/json" \
+    -d '{"resource":"/api/v1/apps/diagnostic_bridge/faults","trigger_condition":{"condition_type":"OnChange"},"multishot":true,"lifetime":60}' 2>/dev/null) || true
+
+TRIGGER_HTTP=$(echo "$TRIGGER_RESPONSE" | tail -1)
+TRIGGER_BODY=$(echo "$TRIGGER_RESPONSE" | sed '$d')
+
+if [ "$TRIGGER_HTTP" = "201" ]; then
+    pass "POST /apps/diagnostic_bridge/triggers returns 201"
+else
+    fail "POST /apps/diagnostic_bridge/triggers returns 201" "got HTTP $TRIGGER_HTTP"
+fi
+
+TRIGGER_ID=$(echo "$TRIGGER_BODY" | jq -r '.id')
+if [ -n "$TRIGGER_ID" ] && [ "$TRIGGER_ID" != "null" ]; then
+    pass "trigger response contains valid id"
+else
+    fail "trigger response contains valid id" "id is null or empty"
+fi
+
+TRIGGER_STATUS=$(echo "$TRIGGER_BODY" | jq -r '.status')
+if [ "$TRIGGER_STATUS" = "active" ]; then
+    pass "trigger status is 'active'"
+else
+    fail "trigger status is 'active'" "got '$TRIGGER_STATUS'"
+fi
+
+# List triggers - verify it appears
+if api_get "/apps/diagnostic_bridge/triggers"; then
+    if echo "$RESPONSE" | jq -e --arg id "$TRIGGER_ID" '.items[] | select(.id == $id)' > /dev/null 2>&1; then
+        pass "GET /apps/diagnostic_bridge/triggers lists created trigger"
+    else
+        fail "GET /apps/diagnostic_bridge/triggers lists created trigger" "trigger $TRIGGER_ID not found"
+    fi
+else
+    fail "GET /apps/diagnostic_bridge/triggers returns 200" "unexpected status code"
+fi
+
+# Delete trigger
+TRIGGER_DELETE_STATUS=$(curl -s -o /dev/null -w "%{http_code}" -X DELETE \
+    "${API_BASE}/apps/diagnostic_bridge/triggers/${TRIGGER_ID}" 2>/dev/null) || true
+
+if [ "$TRIGGER_DELETE_STATUS" = "204" ]; then
+    pass "DELETE /apps/diagnostic_bridge/triggers/$TRIGGER_ID returns 204"
+else
+    fail "DELETE /apps/diagnostic_bridge/triggers/$TRIGGER_ID returns 204" "got HTTP $TRIGGER_DELETE_STATUS"
+fi
+
+# Verify trigger is gone
+if api_get "/apps/diagnostic_bridge/triggers"; then
+    if ! echo "$RESPONSE" | jq -e --arg id "$TRIGGER_ID" '.items[] | select(.id == $id)' > /dev/null 2>&1; then
+        pass "trigger no longer listed after deletion"
+    else
+        fail "trigger no longer listed after deletion" "still found in list"
+    fi
+else
+    fail "GET /apps/diagnostic_bridge/triggers returns 200 after delete" "unexpected status code"
+fi
+
 # --- Summary ---
 
 print_summary

From 2393e87c4c1aec97aab6f9250a1d71344fe641d5 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Mon, 23 Mar 2026 23:10:01 +0100
Subject: [PATCH 15/16] refactor: address review feedback - dedup scripts, add
 validation, fix curl error handling

- Extract common setup/watch logic to lib/setup-trigger.sh and lib/watch-trigger.sh;
  per-demo scripts are now thin wrappers setting ENTITY_TYPE/ENTITY_ID/INJECT_HINT
- Add trigger_id validation in delete_trigger and watch_trigger_events
- Fix curl error handling in create_fault_trigger: capture failure explicitly
  instead of swallowing with || true
---
 demos/moveit_pick_place/setup-triggers.sh     | 47 ++----------------
 demos/moveit_pick_place/watch-triggers.sh     | 25 ++--------
 demos/sensor_diagnostics/setup-triggers.sh    | 47 ++----------------
 demos/sensor_diagnostics/watch-triggers.sh    | 25 ++--------
 .../turtlebot3_integration/setup-triggers.sh  | 47 ++----------------
 .../turtlebot3_integration/watch-triggers.sh  | 25 ++--------
 lib/setup-trigger.sh                          | 48 +++++++++++++++++++
 lib/triggers-api.sh                           | 17 ++++++-
 lib/watch-trigger.sh                          | 29 +++++++++++
 9 files changed, 116 insertions(+), 194 deletions(-)
 create mode 100644 lib/setup-trigger.sh
 create mode 100644 lib/watch-trigger.sh

diff --git a/demos/moveit_pick_place/setup-triggers.sh b/demos/moveit_pick_place/setup-triggers.sh
index 3a8ed57..06ff53e 100755
--- a/demos/moveit_pick_place/setup-triggers.sh
+++ b/demos/moveit_pick_place/setup-triggers.sh
@@ -1,46 +1,9 @@
 #!/bin/bash
 # Create fault-monitoring trigger for moveit pick-and-place demo
 # Alerts on any fault change reported by the manipulation monitor
-set -eu
-SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
-# shellcheck disable=SC1091
-source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
-
-ENTITY_TYPE="apps"
+export ENTITY_TYPE="apps"
 # Uses ROS node name (underscore) - must match reporting_sources in FaultEvent
-ENTITY_ID="manipulation_monitor"
-
-# Check for existing active trigger
-existing=$(find_active_trigger "$ENTITY_TYPE" "$ENTITY_ID")
-if [ -n "$existing" ]; then
-    echo "Active trigger already exists: ${existing}"
-    echo "Run ./watch-triggers.sh to connect, or delete it first:"
-    echo "  curl -X DELETE ${GATEWAY_URL}/api/v1/${ENTITY_TYPE}/${ENTITY_ID}/triggers/${existing}"
-    exit 0
-fi
-
-echo "Setting up fault trigger for ${ENTITY_TYPE}/${ENTITY_ID}..."
-echo ""
-
-result=$(create_fault_trigger "$ENTITY_TYPE" "$ENTITY_ID")
-trigger_id=$(echo "$result" | jq -r '.id')
-
-if [ -z "$trigger_id" ] || [ "$trigger_id" = "null" ]; then
-    echo "Failed to parse trigger response." >&2
-    echo "$result" >&2
-    exit 1
-fi
-
-status=$(echo "$result" | jq -r '.status')
-event_source=$(echo "$result" | jq -r '.event_source')
-
-echo "Trigger created successfully!"
-echo "  ID:     ${trigger_id}"
-echo "  Status: ${status}"
-echo "  Events: ${GATEWAY_URL}${event_source}"
-echo ""
-echo "To watch for events:"
-echo "  ./watch-triggers.sh ${trigger_id}"
-echo ""
-echo "Then inject a fault in another terminal:"
-echo "  ./inject-planning-failure.sh"
+export ENTITY_ID="manipulation_monitor"
+export INJECT_HINT="./inject-planning-failure.sh"
+# shellcheck disable=SC1091
+source "$(cd "$(dirname "$0")" && pwd)/../../lib/setup-trigger.sh"
diff --git a/demos/moveit_pick_place/watch-triggers.sh b/demos/moveit_pick_place/watch-triggers.sh
index 9eaa6eb..4cae6e7 100755
--- a/demos/moveit_pick_place/watch-triggers.sh
+++ b/demos/moveit_pick_place/watch-triggers.sh
@@ -1,26 +1,7 @@
 #!/bin/bash
 # Watch trigger events for moveit pick-and-place demo
 # Connects to SSE stream and prints fault events in real time
-set -eu
-SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+export ENTITY_TYPE="apps"
+export ENTITY_ID="manipulation_monitor"
 # shellcheck disable=SC1091
-source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
-
-ENTITY_TYPE="apps"
-ENTITY_ID="manipulation_monitor"
-
-trigger_id="${1:-}"
-
-if [ -z "$trigger_id" ]; then
-    # Auto-detect: find first active trigger
-    trigger_id=$(find_active_trigger "$ENTITY_TYPE" "$ENTITY_ID")
-    if [ -z "$trigger_id" ]; then
-        echo "No active triggers found for ${ENTITY_TYPE}/${ENTITY_ID}."
-        echo "Create one first: ./setup-triggers.sh"
-        exit 1
-    fi
-    echo "Found active trigger: ${trigger_id}"
-    echo ""
-fi
-
-watch_trigger_events "$ENTITY_TYPE" "$ENTITY_ID" "$trigger_id"
+source "$(cd "$(dirname "$0")" && pwd)/../../lib/watch-trigger.sh" "$@"
diff --git a/demos/sensor_diagnostics/setup-triggers.sh b/demos/sensor_diagnostics/setup-triggers.sh
index 74824a6..f7dcbaf 100755
--- a/demos/sensor_diagnostics/setup-triggers.sh
+++ b/demos/sensor_diagnostics/setup-triggers.sh
@@ -1,46 +1,9 @@
 #!/bin/bash
 # Create fault-monitoring trigger for sensor diagnostics demo
 # Alerts on any new fault reported via the diagnostic bridge
-set -eu
-SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
-# shellcheck disable=SC1091
-source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
-
-ENTITY_TYPE="apps"
+export ENTITY_TYPE="apps"
 # Uses ROS node name (underscore) - must match reporting_sources in FaultEvent
-ENTITY_ID="diagnostic_bridge"
-
-# Check for existing active trigger
-existing=$(find_active_trigger "$ENTITY_TYPE" "$ENTITY_ID")
-if [ -n "$existing" ]; then
-    echo "Active trigger already exists: ${existing}"
-    echo "Run ./watch-triggers.sh to connect, or delete it first:"
-    echo "  curl -X DELETE ${GATEWAY_URL}/api/v1/${ENTITY_TYPE}/${ENTITY_ID}/triggers/${existing}"
-    exit 0
-fi
-
-echo "Setting up fault trigger for ${ENTITY_TYPE}/${ENTITY_ID}..."
-echo ""
-
-result=$(create_fault_trigger "$ENTITY_TYPE" "$ENTITY_ID")
-trigger_id=$(echo "$result" | jq -r '.id')
-
-if [ -z "$trigger_id" ] || [ "$trigger_id" = "null" ]; then
-    echo "Failed to parse trigger response." >&2
-    echo "$result" >&2
-    exit 1
-fi
-
-status=$(echo "$result" | jq -r '.status')
-event_source=$(echo "$result" | jq -r '.event_source')
-
-echo "Trigger created successfully!"
-echo "  ID:     ${trigger_id}"
-echo "  Status: ${status}"
-echo "  Events: ${GATEWAY_URL}${event_source}"
-echo ""
-echo "To watch for events:"
-echo "  ./watch-triggers.sh ${trigger_id}"
-echo ""
-echo "Then inject a fault in another terminal:"
-echo "  ./inject-nan.sh"
+export ENTITY_ID="diagnostic_bridge"
+export INJECT_HINT="./inject-nan.sh"
+# shellcheck disable=SC1091
+source "$(cd "$(dirname "$0")" && pwd)/../../lib/setup-trigger.sh"
diff --git a/demos/sensor_diagnostics/watch-triggers.sh b/demos/sensor_diagnostics/watch-triggers.sh
index d4e5ddb..298f3b4 100755
--- a/demos/sensor_diagnostics/watch-triggers.sh
+++ b/demos/sensor_diagnostics/watch-triggers.sh
@@ -1,26 +1,7 @@
 #!/bin/bash
 # Watch trigger events for sensor diagnostics demo
 # Connects to SSE stream and prints fault events in real time
-set -eu
-SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+export ENTITY_TYPE="apps"
+export ENTITY_ID="diagnostic_bridge"
 # shellcheck disable=SC1091
-source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
-
-ENTITY_TYPE="apps"
-ENTITY_ID="diagnostic_bridge"
-
-trigger_id="${1:-}"
-
-if [ -z "$trigger_id" ]; then
-    # Auto-detect: find first active trigger
-    trigger_id=$(find_active_trigger "$ENTITY_TYPE" "$ENTITY_ID")
-    if [ -z "$trigger_id" ]; then
-        echo "No active triggers found for ${ENTITY_TYPE}/${ENTITY_ID}."
-        echo "Create one first: ./setup-triggers.sh"
-        exit 1
-    fi
-    echo "Found active trigger: ${trigger_id}"
-    echo ""
-fi
-
-watch_trigger_events "$ENTITY_TYPE" "$ENTITY_ID" "$trigger_id"
+source "$(cd "$(dirname "$0")" && pwd)/../../lib/watch-trigger.sh" "$@"
diff --git a/demos/turtlebot3_integration/setup-triggers.sh b/demos/turtlebot3_integration/setup-triggers.sh
index 483a597..8092c13 100755
--- a/demos/turtlebot3_integration/setup-triggers.sh
+++ b/demos/turtlebot3_integration/setup-triggers.sh
@@ -1,46 +1,9 @@
 #!/bin/bash
 # Create fault-monitoring trigger for turtlebot3 integration demo
 # Alerts on any fault change reported by the anomaly detector
-set -eu
-SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
-# shellcheck disable=SC1091
-source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
-
-ENTITY_TYPE="apps"
+export ENTITY_TYPE="apps"
 # Uses ROS node name (underscore) - must match reporting_sources in FaultEvent
-ENTITY_ID="anomaly_detector"
-
-# Check for existing active trigger
-existing=$(find_active_trigger "$ENTITY_TYPE" "$ENTITY_ID")
-if [ -n "$existing" ]; then
-    echo "Active trigger already exists: ${existing}"
-    echo "Run ./watch-triggers.sh to connect, or delete it first:"
-    echo "  curl -X DELETE ${GATEWAY_URL}/api/v1/${ENTITY_TYPE}/${ENTITY_ID}/triggers/${existing}"
-    exit 0
-fi
-
-echo "Setting up fault trigger for ${ENTITY_TYPE}/${ENTITY_ID}..."
-echo ""
-
-result=$(create_fault_trigger "$ENTITY_TYPE" "$ENTITY_ID")
-trigger_id=$(echo "$result" | jq -r '.id')
-
-if [ -z "$trigger_id" ] || [ "$trigger_id" = "null" ]; then
-    echo "Failed to parse trigger response." >&2
-    echo "$result" >&2
-    exit 1
-fi
-
-status=$(echo "$result" | jq -r '.status')
-event_source=$(echo "$result" | jq -r '.event_source')
-
-echo "Trigger created successfully!"
-echo "  ID:     ${trigger_id}"
-echo "  Status: ${status}"
-echo "  Events: ${GATEWAY_URL}${event_source}"
-echo ""
-echo "To watch for events:"
-echo "  ./watch-triggers.sh ${trigger_id}"
-echo ""
-echo "Then inject a fault in another terminal:"
-echo "  ./inject-nav-failure.sh"
+export ENTITY_ID="anomaly_detector"
+export INJECT_HINT="./inject-nav-failure.sh"
+# shellcheck disable=SC1091
+source "$(cd "$(dirname "$0")" && pwd)/../../lib/setup-trigger.sh"
diff --git a/demos/turtlebot3_integration/watch-triggers.sh b/demos/turtlebot3_integration/watch-triggers.sh
index 7588178..6f96330 100755
--- a/demos/turtlebot3_integration/watch-triggers.sh
+++ b/demos/turtlebot3_integration/watch-triggers.sh
@@ -1,26 +1,7 @@
 #!/bin/bash
 # Watch trigger events for turtlebot3 integration demo
 # Connects to SSE stream and prints fault events in real time
-set -eu
-SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+export ENTITY_TYPE="apps"
+export ENTITY_ID="anomaly_detector"
 # shellcheck disable=SC1091
-source "${SCRIPT_DIR}/../../lib/triggers-api.sh"
-
-ENTITY_TYPE="apps"
-ENTITY_ID="anomaly_detector"
-
-trigger_id="${1:-}"
-
-if [ -z "$trigger_id" ]; then
-    # Auto-detect: find first active trigger
-    trigger_id=$(find_active_trigger "$ENTITY_TYPE" "$ENTITY_ID")
-    if [ -z "$trigger_id" ]; then
-        echo "No active triggers found for ${ENTITY_TYPE}/${ENTITY_ID}."
-        echo "Create one first: ./setup-triggers.sh"
-        exit 1
-    fi
-    echo "Found active trigger: ${trigger_id}"
-    echo ""
-fi
-
-watch_trigger_events "$ENTITY_TYPE" "$ENTITY_ID" "$trigger_id"
+source "$(cd "$(dirname "$0")" && pwd)/../../lib/watch-trigger.sh" "$@"
diff --git a/lib/setup-trigger.sh b/lib/setup-trigger.sh
new file mode 100644
index 0000000..83c937a
--- /dev/null
+++ b/lib/setup-trigger.sh
@@ -0,0 +1,48 @@
+#!/bin/bash
+# Generic trigger setup - called by per-demo setup-triggers.sh wrappers
+# Requires ENTITY_TYPE, ENTITY_ID, and INJECT_HINT to be set before sourcing
+set -eu
+
+if [ -z "${ENTITY_TYPE:-}" ] || [ -z "${ENTITY_ID:-}" ]; then
+    echo "ENTITY_TYPE and ENTITY_ID must be set before sourcing this script." >&2
+    exit 1
+fi
+
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/triggers-api.sh"
+
+# Check for existing active trigger
+existing=$(find_active_trigger "$ENTITY_TYPE" "$ENTITY_ID")
+if [ -n "$existing" ]; then
+    echo "Active trigger already exists: ${existing}"
+    echo "Run ./watch-triggers.sh to connect, or delete it first:"
+    echo "  curl -X DELETE ${GATEWAY_URL}/api/v1/${ENTITY_TYPE}/${ENTITY_ID}/triggers/${existing}"
+    exit 0
+fi
+
+echo "Setting up fault trigger for ${ENTITY_TYPE}/${ENTITY_ID}..."
+echo ""
+
+result=$(create_fault_trigger "$ENTITY_TYPE" "$ENTITY_ID")
+trigger_id=$(echo "$result" | jq -r '.id')
+
+if [ -z "$trigger_id" ] || [ "$trigger_id" = "null" ]; then
+    echo "Failed to parse trigger response." >&2
+    echo "$result" >&2
+    exit 1
+fi
+
+status=$(echo "$result" | jq -r '.status')
+event_source=$(echo "$result" | jq -r '.event_source')
+
+echo "Trigger created successfully!"
+echo "  ID:     ${trigger_id}"
+echo "  Status: ${status}"
+echo "  Events: ${GATEWAY_URL}${event_source}"
+echo ""
+echo "To watch for events:"
+echo "  ./watch-triggers.sh ${trigger_id}"
+echo ""
+echo "Then inject a fault in another terminal:"
+echo "  ${INJECT_HINT:-./inject-nan.sh}"
diff --git a/lib/triggers-api.sh b/lib/triggers-api.sh
index 3ec7334..0859d4e 100644
--- a/lib/triggers-api.sh
+++ b/lib/triggers-api.sh
@@ -50,10 +50,13 @@ create_fault_trigger() {
 
     local result
     local http_code
-    result=$(curl -s -w "\n%{http_code}" -X POST \
+    if ! result=$(curl -s -w "\n%{http_code}" -X POST \
         "${API_BASE}/${entity_type}/${entity_id}/triggers" \
         -H "Content-Type: application/json" \
-        -d "$body" 2>/dev/null) || true
+        -d "$body" 2>/dev/null); then
+        echo "Failed to reach gateway at ${GATEWAY_URL}." >&2
+        return 1
+    fi
 
     http_code=$(echo "$result" | tail -1)
     result=$(echo "$result" | sed '$d')
@@ -85,6 +88,11 @@ delete_trigger() {
     local entity_id="$2"
     local trigger_id="$3"
 
+    if [[ ! "$trigger_id" =~ ^[a-zA-Z0-9_-]+$ ]]; then
+        echo "Invalid trigger ID: '${trigger_id}'" >&2
+        return 1
+    fi
+
     check_gateway
 
     local http_code
@@ -106,6 +114,11 @@ watch_trigger_events() {
     local entity_id="$2"
     local trigger_id="$3"
 
+    if [[ ! "$trigger_id" =~ ^[a-zA-Z0-9_-]+$ ]]; then
+        echo "Invalid trigger ID: '${trigger_id}'" >&2
+        return 1
+    fi
+
     check_gateway
 
     local url="${API_BASE}/${entity_type}/${entity_id}/triggers/${trigger_id}/events"
diff --git a/lib/watch-trigger.sh b/lib/watch-trigger.sh
new file mode 100644
index 0000000..57dfc1a
--- /dev/null
+++ b/lib/watch-trigger.sh
@@ -0,0 +1,29 @@
+#!/bin/bash
+# Generic trigger watcher - called by per-demo watch-triggers.sh wrappers
+# Requires ENTITY_TYPE and ENTITY_ID to be set before sourcing
+set -eu
+
+if [ -z "${ENTITY_TYPE:-}" ] || [ -z "${ENTITY_ID:-}" ]; then
+    echo "ENTITY_TYPE and ENTITY_ID must be set before sourcing this script." >&2
+    exit 1
+fi
+
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/triggers-api.sh"
+
+trigger_id="${1:-}"
+
+if [ -z "$trigger_id" ]; then
+    # Auto-detect: find first active trigger
+    trigger_id=$(find_active_trigger "$ENTITY_TYPE" "$ENTITY_ID")
+    if [ -z "$trigger_id" ]; then
+        echo "No active triggers found for ${ENTITY_TYPE}/${ENTITY_ID}."
+        echo "Create one first: ./setup-triggers.sh"
+        exit 1
+    fi
+    echo "Found active trigger: ${trigger_id}"
+    echo ""
+fi
+
+watch_trigger_events "$ENTITY_TYPE" "$ENTITY_ID" "$trigger_id"

From 14205c50614e5a279186771d26bb1daa1befc8c8 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Tue, 24 Mar 2026 08:53:53 +0100
Subject: [PATCH 16/16] fix: use manifest entity ID (diagnostic-bridge) in
 smoke test triggers

The runtime-discovered entity (diagnostic_bridge with underscore) may not
exist in CI if the Docker image cache has an older gateway version. The
manifest entity (diagnostic-bridge with hyphen) always exists. Trigger
CRUD works on any entity - only SSE dispatch needs reporting_sources match.
---
 tests/smoke_test.sh | 28 ++++++++++++++--------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/tests/smoke_test.sh b/tests/smoke_test.sh
index 3660400..1c991ce 100755
--- a/tests/smoke_test.sh
+++ b/tests/smoke_test.sh
@@ -116,19 +116,19 @@ fi
 
 section "Triggers"
 
-# Create a trigger on diagnostic_bridge faults
+# Create a trigger on diagnostic-bridge faults
 echo "  Creating OnChange fault trigger..."
-TRIGGER_RESPONSE=$(curl -s -w "\n%{http_code}" -X POST "${API_BASE}/apps/diagnostic_bridge/triggers" \
+TRIGGER_RESPONSE=$(curl -s -w "\n%{http_code}" -X POST "${API_BASE}/apps/diagnostic-bridge/triggers" \
     -H "Content-Type: application/json" \
-    -d '{"resource":"/api/v1/apps/diagnostic_bridge/faults","trigger_condition":{"condition_type":"OnChange"},"multishot":true,"lifetime":60}' 2>/dev/null) || true
+    -d '{"resource":"/api/v1/apps/diagnostic-bridge/faults","trigger_condition":{"condition_type":"OnChange"},"multishot":true,"lifetime":60}' 2>/dev/null) || true
 
 TRIGGER_HTTP=$(echo "$TRIGGER_RESPONSE" | tail -1)
 TRIGGER_BODY=$(echo "$TRIGGER_RESPONSE" | sed '$d')
 
 if [ "$TRIGGER_HTTP" = "201" ]; then
-    pass "POST /apps/diagnostic_bridge/triggers returns 201"
+    pass "POST /apps/diagnostic-bridge/triggers returns 201"
 else
-    fail "POST /apps/diagnostic_bridge/triggers returns 201" "got HTTP $TRIGGER_HTTP"
+    fail "POST /apps/diagnostic-bridge/triggers returns 201" "got HTTP $TRIGGER_HTTP"
 fi
 
 TRIGGER_ID=$(echo "$TRIGGER_BODY" | jq -r '.id')
@@ -146,35 +146,35 @@ else
 fi
 
 # List triggers - verify it appears
-if api_get "/apps/diagnostic_bridge/triggers"; then
+if api_get "/apps/diagnostic-bridge/triggers"; then
     if echo "$RESPONSE" | jq -e --arg id "$TRIGGER_ID" '.items[] | select(.id == $id)' > /dev/null 2>&1; then
-        pass "GET /apps/diagnostic_bridge/triggers lists created trigger"
+        pass "GET /apps/diagnostic-bridge/triggers lists created trigger"
     else
-        fail "GET /apps/diagnostic_bridge/triggers lists created trigger" "trigger $TRIGGER_ID not found"
+        fail "GET /apps/diagnostic-bridge/triggers lists created trigger" "trigger $TRIGGER_ID not found"
     fi
 else
-    fail "GET /apps/diagnostic_bridge/triggers returns 200" "unexpected status code"
+    fail "GET /apps/diagnostic-bridge/triggers returns 200" "unexpected status code"
 fi
 
 # Delete trigger
 TRIGGER_DELETE_STATUS=$(curl -s -o /dev/null -w "%{http_code}" -X DELETE \
-    "${API_BASE}/apps/diagnostic_bridge/triggers/${TRIGGER_ID}" 2>/dev/null) || true
+    "${API_BASE}/apps/diagnostic-bridge/triggers/${TRIGGER_ID}" 2>/dev/null) || true
 
 if [ "$TRIGGER_DELETE_STATUS" = "204" ]; then
-    pass "DELETE /apps/diagnostic_bridge/triggers/$TRIGGER_ID returns 204"
+    pass "DELETE /apps/diagnostic-bridge/triggers/$TRIGGER_ID returns 204"
 else
-    fail "DELETE /apps/diagnostic_bridge/triggers/$TRIGGER_ID returns 204" "got HTTP $TRIGGER_DELETE_STATUS"
+    fail "DELETE /apps/diagnostic-bridge/triggers/$TRIGGER_ID returns 204" "got HTTP $TRIGGER_DELETE_STATUS"
 fi
 
 # Verify trigger is gone
-if api_get "/apps/diagnostic_bridge/triggers"; then
+if api_get "/apps/diagnostic-bridge/triggers"; then
     if ! echo "$RESPONSE" | jq -e --arg id "$TRIGGER_ID" '.items[] | select(.id == $id)' > /dev/null 2>&1; then
         pass "trigger no longer listed after deletion"
     else
         fail "trigger no longer listed after deletion" "still found in list"
     fi
 else
-    fail "GET /apps/diagnostic_bridge/triggers returns 200 after delete" "unexpected status code"
+    fail "GET /apps/diagnostic-bridge/triggers returns 200 after delete" "unexpected status code"
 fi
 
 # --- Summary ---