ros2_medkit

Modern, SOVD-compatible diagnostics for ROS 2 robots, built around an entity tree (Area / Component / Function / App) for runtime discovery, health modeling, and troubleshooting.

What is ros2_medkit?

ros2_medkit is an experiment in modern diagnostics for ROS 2–based systems.

Instead of hardcoding knowledge about every node, topic, or ECU, ros2_medkit models a robot as a diagnostic entity tree:

• Area – physical or logical domain (e.g. base, arm, safety, navigation)
• Component – hardware or software component within an area
• Function – capability provided by one or more components
• App – deployable software unit (node, container, process)

The goal is to make this tree compatible with the SOVD (Service-Oriented Vehicle Diagnostics) model, so the same concepts can be used across robots, vehicles, and other embedded systems.

Status

Early prototype / work in progress

This is a personal open source project to explore diagnostic patterns for ROS 2. APIs, architecture, and naming may change at any time.

Target Use Cases

• Runtime discovery of what is actually running on the robot
• Health state modeled per Area / Component / Function / App
• Better remote troubleshooting and fleet-level observability for ROS 2 robots

Development

Installing Dependencies

rosdep install --from-paths src --ignore-src -r -y

Building

colcon build --symlink-install

Testing

Run all tests:

source install/setup.bash
colcon test
colcon test-result --verbose

Run linters:

source install/setup.bash
colcon test --ctest-args -L linters
colcon test-result --verbose

Run only unit tests (everything except integration):

source install/setup.bash
colcon test --ctest-args -E test_integration
colcon test-result --verbose

Run only integration tests:

source install/setup.bash
colcon test --ctest-args -R test_integration
colcon test-result --verbose

CI/CD

All pull requests and pushes to main are automatically built and tested using GitHub Actions. The CI workflow runs on Ubuntu 24.04 with ROS 2 Jazzy, executes a single colcon test to cover:

• Code linting and formatting checks
• Unit tests
• Integration tests with demo automotive nodes

After every run the workflow always calls colcon test-result --verbose and uploads the generated logs/results as artifacts for debugging.

Contributing

Contributions and early feedback are welcome! Please read CONTRIBUTING.md for guidelines.

By contributing, you agree to follow the CODE_OF_CONDUCT.md.

Security

If you discover a security vulnerability, please follow the process in SECURITY.md.

License

This project is licensed under the Apache License 2.0. See the LICENSE file for details.