Add MoveIt 2 Panda pick-and-place demo with ros2_medkit integration

.github/workflows/ci.yml

@@ -48,3 +48,8 @@ jobs:
         run: |
           cd demos/turtlebot3_integration
           docker build -t turtlebot3-medkit-demo:test -f Dockerfile .
+
+      - name: Build MoveIt Pick-and-Place demo image
+        run: |
+          cd demos/moveit_pick_place
+          docker build -t moveit-pick-place-demo:test -f Dockerfile .

README.md

@@ -18,6 +18,7 @@ to complete mobile robot integration:
 
 - **Sensor Diagnostics** — Lightweight demo focusing on data monitoring and fault injection
 - **TurtleBot3 Integration** — Full-featured demo with Nav2 navigation, showing entity hierarchy and real-time control
+- **MoveIt Pick-and-Place** — Panda 7-DOF arm manipulation with MoveIt 2, fault monitoring for planning, controllers, and joint limits
 
 **Key Capabilities Demonstrated:**
 
@@ -42,6 +43,7 @@ Both demos support:
 |------|-------------|----------|--------|
 | [Sensor Diagnostics](demos/sensor_diagnostics/) | Lightweight sensor diagnostics demo (no Gazebo required) | Data monitoring, fault injection, dual fault reporting paths | ✅ Ready |
 | [TurtleBot3 Integration](demos/turtlebot3_integration/) | Full ros2_medkit integration with TurtleBot3 and Nav2 | SOVD-compliant API, manifest-based discovery, fault management | ✅ Ready |
+| [MoveIt Pick-and-Place](demos/moveit_pick_place/) | Panda 7-DOF arm with MoveIt 2 manipulation and ros2_medkit | Planning fault detection, controller monitoring, joint limits | ✅ Ready |
 
 ### Quick Start
 
@@ -96,6 +98,31 @@ cd demos/turtlebot3_integration
 - Fault injection scenarios for Nav2 components
 - Real-time robot control via HTTP
 
+#### MoveIt 2 Pick-and-Place Demo (Manipulation Stack)
+
+Panda robot arm demo with pick-and-place manipulation:
+
+```bash
+cd demos/moveit_pick_place
+./run-demo.sh
+# RViz will open with Panda arm (or use --headless), Web UI at http://localhost:3000
+# Move the arm: ./move-arm.sh demo
+# Inject faults: ./inject-planning-failure.sh
+# Check faults: ./check-faults.sh
+
+# To stop
+./stop-demo.sh
+```
+
+**Features:**
+
+- Panda 7-DOF arm with MoveIt 2 and mock hardware (no physics sim)
+- Interactive arm control via `move-arm.sh`
+- Continuous pick-and-place task loop
+- Manipulation fault monitoring (planning, controller, joint limits)
+- 5 fault injection scenarios with one-click scripts
+- SOVD-compliant REST API with rich entity hierarchy (4 areas, 7 components)
+
 ## Getting Started
 
 ### Prerequisites

demos/moveit_pick_place/CMakeLists.txt

@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.8)
+project(moveit_medkit_demo)
+
+find_package(ament_cmake REQUIRED)
+
+# Install launch files
+install(DIRECTORY launch/
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
+# Install config files
+install(DIRECTORY config/
+  DESTINATION share/${PROJECT_NAME}/config
+)
+
+# Install world files
+install(DIRECTORY worlds/
+  DESTINATION share/${PROJECT_NAME}/worlds
+)
+
+# Install scripts
+install(PROGRAMS
+  scripts/manipulation_monitor.py
+  scripts/pick_place_loop.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

demos/moveit_pick_place/Dockerfile

@@ -0,0 +1,71 @@
+# MoveIt 2 Panda + ros2_medkit Integration Demo
+# Supports fake hardware (default) and Gazebo Harmonic simulation (--gazebo)
+
+FROM osrf/ros:jazzy-desktop
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV ROS_DISTRO=jazzy
+ENV COLCON_WS=/root/demo_ws
+
+# Install MoveIt 2, Panda, ros2_control, Gazebo, and build dependencies
+RUN apt-get update && apt-get install -y \
+    ros-jazzy-moveit \
+    ros-jazzy-moveit-resources-panda-moveit-config \
+    ros-jazzy-moveit-resources-panda-description \
+    ros-jazzy-moveit-planners-ompl \
+    ros-jazzy-moveit-ros-planning-interface \
+    ros-jazzy-moveit-ros-visualization \
+    ros-jazzy-moveit-simple-controller-manager \
+    ros-jazzy-moveit-servo \
+    ros-jazzy-ros2-controllers \
+    ros-jazzy-ros2-control \
+    ros-jazzy-joint-state-publisher \
+    ros-jazzy-joint-state-publisher-gui \
+    ros-jazzy-ros-gz-sim \
+    ros-jazzy-ros-gz-bridge \
+    ros-jazzy-gz-ros2-control \
+    ros-jazzy-ament-lint-auto \
+    ros-jazzy-ament-lint-common \
+    python3-colcon-common-extensions \
+    nlohmann-json3-dev \
+    libcpp-httplib-dev \
+    sqlite3 libsqlite3-dev git curl \
+    && rm -rf /var/lib/apt/lists/*
+
+# Clone ros2_medkit from GitHub (pinned to a specific ref for reproducibility)
+ARG ROS2_MEDKIT_REF=main
+WORKDIR ${COLCON_WS}/src
+RUN git clone --depth 1 --branch ${ROS2_MEDKIT_REF} https://github.com/selfpatch/ros2_medkit.git && \
+    mv ros2_medkit/src/ros2_medkit_gateway \
+       ros2_medkit/src/ros2_medkit_msgs \
+       ros2_medkit/src/ros2_medkit_serialization \
+       ros2_medkit/src/ros2_medkit_fault_manager \
+       ros2_medkit/src/ros2_medkit_fault_reporter \
+       ros2_medkit/src/ros2_medkit_diagnostic_bridge . && \
+    rm -rf ros2_medkit
+
+# Copy demo package from local context
+COPY package.xml CMakeLists.txt ${COLCON_WS}/src/moveit_medkit_demo/
+COPY config/ ${COLCON_WS}/src/moveit_medkit_demo/config/
+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/
+
+# 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
+# installed via apt above; rosdep handles any transitive deps it can resolve.
+WORKDIR ${COLCON_WS}
+RUN bash -c "source /opt/ros/jazzy/setup.bash && \
+    rosdep update && \
+    rosdep install --from-paths src --ignore-src -r -y || true" && \
+    bash -c "source /opt/ros/jazzy/setup.bash && \
+    colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF"
+
+# Setup environment
+RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \
+    echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc
+
+EXPOSE 8080
+
+CMD ["bash"]