feat: add smoke tests for all 3 demos with CI integration

Add host-driven smoke tests that exercise the gateway REST API against
running Docker containers for sensor_diagnostics, turtlebot3, and
moveit_pick_place demos.

Sensor smoke tests (21 tests): health, entity discovery (areas,
components, apps), data access, configurations, and full fault
injection cycle (inject -> detect -> verify detail -> cleanup).

Turtlebot3 and moveit smoke tests: health + entity discovery against
their respective manifests.

Shared test infrastructure in tests/smoke_lib.sh: pass/fail counters,
colored output, api_get/poll_until helpers, wait_for_gateway,
wait_for_runtime_linking, test_entity_discovery.

CI changes:
- All 3 demos build + run smoke tests in parallel jobs
- Container logs shown on failure, teardown on always()
- Docker Compose CI profiles for each demo

Also fixes outdated medkit parameter names across all 3 demos
(discovery_mode -> discovery.mode, manifest_path ->
discovery.manifest_path) to match current ros2_medkit API.

Closes #11

Author: bburda

.github/workflows/ci.yml

@@ -35,7 +35,7 @@ jobs:
           YAMLLINT_CONFIG="{extends: relaxed, rules: {line-length: {max: 120}}}"
           find . \( -name "*.yaml" -o -name "*.yml" \) -type f | xargs yamllint -d "$YAMLLINT_CONFIG"
 
-  docker-build:
+  build-and-test-sensor:
     runs-on: ubuntu-24.04
     steps:
       - name: Show triggering source
@@ -54,20 +54,65 @@ jobs:
       - name: Checkout repository
         uses: actions/checkout@v4
 
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
+      - name: Build and start sensor_diagnostics demo
+        working-directory: demos/sensor_diagnostics
+        run: docker compose --profile ci up -d --build sensor-demo-ci
 
-      - name: Build Sensor Diagnostics demo image
-        run: |
-          cd demos/sensor_diagnostics
-          docker build -t sensor-diagnostics-demo:test -f Dockerfile .
+      - name: Run smoke tests
+        run: ./tests/smoke_test.sh
 
-      - name: Build TurtleBot3 demo image
-        run: |
-          cd demos/turtlebot3_integration
-          docker build -t turtlebot3-medkit-demo:test -f Dockerfile .
+      - name: Show container logs on failure
+        if: failure()
+        working-directory: demos/sensor_diagnostics
+        run: docker compose --profile ci logs sensor-demo-ci --tail=200
 
-      - name: Build MoveIt Pick-and-Place demo image
-        run: |
-          cd demos/moveit_pick_place
-          docker build -t moveit-pick-place-demo:test -f Dockerfile .
+      - name: Teardown
+        if: always()
+        working-directory: demos/sensor_diagnostics
+        run: docker compose --profile ci down
+
+  build-and-test-turtlebot:
+    runs-on: ubuntu-24.04
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Build and start turtlebot3 demo
+        working-directory: demos/turtlebot3_integration
+        run: docker compose --profile ci up -d --build turtlebot3-demo-ci
+
+      - name: Run smoke tests
+        run: ./tests/smoke_test_turtlebot3.sh
+
+      - name: Show container logs on failure
+        if: failure()
+        working-directory: demos/turtlebot3_integration
+        run: docker compose --profile ci logs turtlebot3-demo-ci --tail=200
+
+      - name: Teardown
+        if: always()
+        working-directory: demos/turtlebot3_integration
+        run: docker compose --profile ci down
+
+  build-and-test-moveit:
+    runs-on: ubuntu-24.04
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Build and start moveit demo
+        working-directory: demos/moveit_pick_place
+        run: docker compose --profile ci up -d --build moveit-demo-ci
+
+      - name: Run smoke tests
+        run: ./tests/smoke_test_moveit.sh
+
+      - name: Show container logs on failure
+        if: failure()
+        working-directory: demos/moveit_pick_place
+        run: docker compose --profile ci logs moveit-demo-ci --tail=200
+
+      - name: Teardown
+        if: always()
+        working-directory: demos/moveit_pick_place
+        run: docker compose --profile ci down

README.md

@@ -173,6 +173,19 @@ curl http://localhost:8080/api/v1/faults | jq
 
 See individual demo READMEs for more examples.
 
+## Testing
+
+Each demo has automated smoke tests that verify the gateway starts and the REST API works correctly:
+
+```bash
+# Run smoke tests against a running demo (default: http://localhost:8080)
+./tests/smoke_test.sh              # Sensor diagnostics (21 tests, incl. fault injection)
+./tests/smoke_test_turtlebot3.sh   # TurtleBot3 (entity discovery)
+./tests/smoke_test_moveit.sh       # MoveIt pick-and-place (entity discovery)
+```
+
+CI runs all 3 demos in parallel - each job builds the Docker image, starts the container, and runs the smoke tests against it. See [CI workflow](.github/workflows/ci.yml).
+
 ## Related Projects
 
 - [ros2_medkit](https://github.com/selfpatch/ros2_medkit) — Core diagnostics library with SOVD-compliant gateway

demos/moveit_pick_place/config/medkit_params.yaml

@@ -18,14 +18,11 @@ diagnostics:
         allow_credentials: false
         max_age_seconds: 86400
 
-      max_parallel_topic_samples: 10
-
       # Discovery configuration
-      discovery_mode: "hybrid"  # runtime_only, manifest_only, or hybrid
-      manifest_path: ""  # Will be set via launch argument
-      manifest_strict_validation: true
-
       discovery:
+        mode: "hybrid"  # runtime_only, manifest_only, or hybrid
+        manifest_path: ""  # Will be set via launch argument
+        manifest_strict_validation: true
         runtime:
           create_synthetic_components: false  # Manifest defines components
 

demos/moveit_pick_place/docker-compose.yml

@@ -62,6 +62,23 @@ services:
                source /root/demo_ws/install/setup.bash &&
                ros2 launch moveit_medkit_demo $${LAUNCH_FILE} headless:=$${HEADLESS}"
 
+  # For CI testing - fake hardware (no Gazebo), tests run externally
+  moveit-demo-ci:
+    profiles: ["ci"]
+    build:
+      context: .
+      dockerfile: Dockerfile
+    container_name: moveit_medkit_demo_ci
+    environment:
+      - ROS_DOMAIN_ID=40
+    ports:
+      - "8080:8080"
+    command: >
+      bash -c "mkdir -p /var/lib/ros2_medkit/rosbags &&
+               source /opt/ros/jazzy/setup.bash &&
+               source /root/demo_ws/install/setup.bash &&
+               ros2 launch moveit_medkit_demo demo.launch.py headless:=true"
+
   # SOVD Web UI — pre-built from GHCR
   sovd-web-ui:
     image: ghcr.io/selfpatch/sovd_web_ui:latest

demos/moveit_pick_place/launch/demo.launch.py

@@ -126,7 +126,7 @@ def generate_launch_description():
                     medkit_params_file,
                     {
                         "use_sim_time": use_sim_time,
-                        "manifest_path": manifest_file,
+                        "discovery.manifest_path": manifest_file,
                     },
                 ],
             ),

demos/moveit_pick_place/launch/demo_gazebo.launch.py

@@ -470,7 +470,7 @@ def generate_launch_description():
                     medkit_params_file,
                     {
                         "use_sim_time": True,
-                        "manifest_path": manifest_file,
+                        "discovery.manifest_path": manifest_file,
                     },
                 ],
             ),

demos/sensor_diagnostics/config/medkit_params.yaml

@@ -16,14 +16,11 @@ diagnostics:
         allow_credentials: false
         max_age_seconds: 86400
 
-      max_parallel_topic_samples: 10
-
       # Discovery configuration
-      discovery_mode: "hybrid"  # runtime_only, manifest_only, or hybrid
-      manifest_path: ""  # Will be set via launch argument
-      manifest_strict_validation: true
-
       discovery:
+        mode: "hybrid"  # runtime_only, manifest_only, or hybrid
+        manifest_path: ""  # Will be set via launch argument
+        manifest_strict_validation: true
         runtime:
           create_synthetic_components: false  # Manifest defines components
 

demos/sensor_diagnostics/docker-compose.yml

@@ -28,7 +28,7 @@ services:
     depends_on:
       - sensor-demo
 
-  # For CI testing - headless mode with quick exit
+  # For CI testing - headless mode, tests run externally
   sensor-demo-ci:
     profiles: ["ci"]
     build:
@@ -43,8 +43,4 @@ services:
       bash -c "mkdir -p /var/lib/ros2_medkit/rosbags &&
                source /opt/ros/jazzy/setup.bash &&
                source /root/demo_ws/install/setup.bash &&
-               ros2 launch sensor_diagnostics_demo demo.launch.py &
-               sleep 10 &&
-               curl -sf http://localhost:8080/api/v1/health &&
-               curl -sf http://localhost:8080/api/v1/apps | jq '.items[] | .id' &&
-               echo 'CI validation passed!'"
+               ros2 launch sensor_diagnostics_demo demo.launch.py"

demos/sensor_diagnostics/launch/demo.launch.py

@@ -119,7 +119,7 @@ def generate_launch_description():
                 parameters=[
                     medkit_params_file,
                     {"use_sim_time": use_sim_time},
-                    {"manifest_path": manifest_file},
+                    {"discovery.manifest_path": manifest_file},
                 ],
             ),
             # ===== Fault Manager (at root namespace) =====

demos/turtlebot3_integration/config/medkit_params.yaml

@@ -17,14 +17,11 @@ diagnostics:
         allow_credentials: false
         max_age_seconds: 86400
 
-      max_parallel_topic_samples: 10
-
       # Discovery configuration
-      discovery_mode: "hybrid"  # runtime_only, manifest_only, or hybrid
-      manifest_path: ""  # Will be set via launch argument
-      manifest_strict_validation: true
-
       discovery:
+        mode: "hybrid"  # runtime_only, manifest_only, or hybrid
+        manifest_path: ""  # Will be set via launch argument
+        manifest_strict_validation: true
         runtime:
           create_synthetic_components: false  # Manifest defines components