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fix(turtlebot3): resolve port conflict between CPU and NVIDIA profiles
- Add cpu/nvidia profiles to prevent simultaneous service startup - Add stop-demo.sh script for clean shutdown with --volumes/--images options - Add --update flag to pull latest images before running - Add --attached flag for foreground mode (daemon mode is now default) - Update README with daemon mode instructions and new scripts - Add instructions for viewing logs and interacting with ROS 2 in containers Fixes port 8080 conflict when running with --nvidia flag where both turtlebot3-demo and turtlebot3-demo-nvidia services tried to bind to the same port. Now --profile cpu (default) or --profile nvidia must be explicitly specified, ensuring mutual exclusivity. Changes: - docker-compose.yml: Add profiles=['cpu'] to default service - run-demo.sh: Default to --profile cpu, add daemon mode with -d flag - stop-demo.sh: New script for stopping containers with cleanup options - README.md: Update Quick Start, add daemon mode docs, add stop script
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‎demos/turtlebot3_integration/README.md‎

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@@ -38,29 +38,45 @@ That's it! The script will:
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1. Build the Docker images (first run takes ~5-10 min, downloads ~4GB)
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2. Setup X11 forwarding for Gazebo GUI
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3. Launch TurtleBot3 simulation + Nav2 + ros2_medkit gateway
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3. Launch TurtleBot3 simulation + Nav2 + ros2_medkit gateway in **daemon mode** (background)
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4. Launch sovd_web_ui at <http://localhost:3000>
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**Note:** By default, the demo runs with **Gazebo GUI** for visualization. Requires X11 display.
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**Note:** By default, the demo runs in **daemon mode** with **Gazebo GUI** enabled. This allows you to interact with ROS 2 while the demo is running.
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### Running Headless (Server Only)
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For CI/CD or remote servers without display:
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### Available Options
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```bash
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HEADLESS=true docker compose up
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# or:
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./run-demo.sh --headless
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./run-demo.sh # Daemon mode with GUI (default)
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./run-demo.sh --attached # Foreground mode with live logs
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./run-demo.sh --headless # Daemon mode without GUI (headless)
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./run-demo.sh --nvidia # Use NVIDIA GPU acceleration
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./run-demo.sh --update # Pull latest images before running
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./run-demo.sh --no-cache # Rebuild without cache
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```
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### Running with GUI (Default)
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### Viewing Logs and Interacting with ROS 2
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With Gazebo visualization:
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Since the demo runs in daemon mode by default, you can:
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```bash
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docker compose up
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# or:
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./run-demo.sh
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# View live logs
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docker compose --profile cpu logs -f
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# Enter the container to run ROS 2 commands
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docker exec -it turtlebot3_medkit_demo bash
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# Inside the container:
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ros2 node list
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ros2 topic list
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ros2 topic echo /odom
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```
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### Stopping the Demo
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```bash
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./stop-demo.sh # Stop containers
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./stop-demo.sh --volumes # Stop and remove volumes
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./stop-demo.sh --images # Stop and remove images
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```
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### 2. Access the Web UI
@@ -85,7 +101,15 @@ For hardware-accelerated Gazebo rendering with NVIDIA GPU:
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You can also use Docker Compose directly:
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```bash
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docker compose --profile nvidia up --build
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# CPU version (default profile)
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docker compose --profile cpu up -d
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# NVIDIA version
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docker compose --profile nvidia up -d
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# View logs
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docker compose --profile cpu logs -f
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docker compose --profile nvidia logs -f
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```
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## Controlling the Robot
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### Via ROS2 CLI (inside container)
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First, enter the running container:
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```bash
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# Enter the container
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docker exec -it turtlebot3_medkit_demo bash
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# Inside the container:
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# Send navigation goal
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ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose \
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"{pose: {header: {frame_id: 'map'}, pose: {position: {x: 2.0, y: 0.5, z: 0.0}, orientation: {w: 1.0}}}}"
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# Manual teleop
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ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \
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"{linear: {x: 0.2}, angular: {z: 0.0}}" --once
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# Exit container
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exit
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```
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## REST API Endpoints
@@ -390,6 +423,7 @@ demos/turtlebot3_integration/
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├── Dockerfile # ROS 2 Jazzy + TurtleBot3 + Nav2 + ros2_medkit
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├── docker-compose.yml # Docker Compose (CPU & GPU via profiles)
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├── run-demo.sh # One-click demo launcher
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├── stop-demo.sh # Stop and cleanup demo
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├── send-nav-goal.sh # Send navigation goal via SOVD API
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├── check-entities.sh # Explore SOVD entity hierarchy
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├── check-faults.sh # View active faults
@@ -412,6 +446,7 @@ demos/turtlebot3_integration/
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| Script | Description |
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|--------|-------------|
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| `run-demo.sh` | Start the full demo (Docker) |
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| `stop-demo.sh` | Stop containers and cleanup |
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| `send-nav-goal.sh [x] [y] [yaw]` | Send navigation goal via SOVD API |
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| `check-entities.sh` | Explore SOVD entity hierarchy |
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| `check-faults.sh` | View active faults from gateway |

‎demos/turtlebot3_integration/docker-compose.yml‎

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@@ -1,6 +1,8 @@
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services:
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# CPU-only version (default)
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# Use with: docker compose --profile cpu up
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turtlebot3-demo:
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profiles: ["cpu"]
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build:
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context: .
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dockerfile: Dockerfile

‎demos/turtlebot3_integration/run-demo.sh‎

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@@ -41,6 +41,8 @@ trap cleanup EXIT
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COMPOSE_ARGS=""
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BUILD_ARGS=""
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HEADLESS_MODE="false"
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UPDATE_IMAGES="false"
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DETACH_MODE="true"
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usage() {
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echo "Usage: $0 [OPTIONS]"
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echo " --nvidia Use NVIDIA GPU acceleration"
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echo " --no-cache Build Docker images without cache"
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echo " --headless Run without Gazebo GUI (default: GUI enabled)"
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echo " --update Pull latest images before running"
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echo " --attached Run in foreground (default: daemon mode)"
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echo " -h, --help Show this help message"
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echo ""
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echo "Examples:"
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echo " $0 # With Gazebo GUI (default)"
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echo " $0 # Daemon mode (default)"
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echo " $0 --attached # Foreground with logs"
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echo " $0 --headless # Headless mode (no GUI)"
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echo " $0 --nvidia # GPU acceleration + GUI"
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echo " $0 --no-cache # Rebuild without cache"
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echo " $0 --update # Pull and run latest version"
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echo ""
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echo "Environment variables:"
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echo " HEADLESS=true|false Control GUI mode (default: false)"
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echo "Running in headless mode (no GUI)"
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HEADLESS_MODE="true"
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;;
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--update)
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echo "Will pull latest images"
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UPDATE_IMAGES="true"
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;;
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--attached)
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echo "Running in foreground mode"
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DETACH_MODE="false"
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;;
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-h|--help)
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usage
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exit 0
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if [[ -z "$COMPOSE_ARGS" ]]; then
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echo "Using CPU-only mode (use --nvidia flag for GPU acceleration)"
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COMPOSE_ARGS="--profile cpu"
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fi
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# Export HEADLESS mode for docker-compose
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export HEADLESS=$HEADLESS_MODE
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echo "Gazebo mode: $([ "$HEADLESS_MODE" = "true" ] && echo "headless (no GUI)" || echo "GUI enabled")"
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echo "Run mode: $([ "$DETACH_MODE" = "true" ] && echo "daemon (background)" || echo "attached (foreground)")"
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# Build and run
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echo " Building and starting demo..."
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echo "🌐 Web UI available at: http://localhost:3000/"
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echo ""
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# Pull images if --update flag is set
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if [[ "$UPDATE_IMAGES" == "true" ]]; then
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echo "📥 Pulling latest images..."
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if docker compose version &> /dev/null; then
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# shellcheck disable=SC2086
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docker compose ${COMPOSE_ARGS} pull
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else
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# shellcheck disable=SC2086
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docker-compose ${COMPOSE_ARGS} pull
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fi
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echo ""
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fi
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# Set detach flag
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DETACH_FLAG=""
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if [[ "$DETACH_MODE" == "true" ]]; then
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DETACH_FLAG="-d"
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fi
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if docker compose version &> /dev/null; then
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# shellcheck disable=SC2086
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docker compose ${COMPOSE_ARGS} build ${BUILD_ARGS} && \
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docker compose ${COMPOSE_ARGS} up
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docker compose ${COMPOSE_ARGS} up ${DETACH_FLAG}
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else
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# shellcheck disable=SC2086
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docker-compose ${COMPOSE_ARGS} build ${BUILD_ARGS} && \
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docker-compose ${COMPOSE_ARGS} up
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docker-compose ${COMPOSE_ARGS} up ${DETACH_FLAG}
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fi
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if [[ "$DETACH_MODE" == "true" ]]; then
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echo ""
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echo "✅ Demo started in background!"
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echo ""
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echo "📊 To view logs:"
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echo " docker compose --profile cpu logs -f # CPU version"
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echo " docker compose --profile nvidia logs -f # NVIDIA version"
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echo ""
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echo "🔧 To interact with ROS 2:"
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echo " docker exec -it turtlebot3_medkit_demo bash # CPU"
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echo " docker exec -it turtlebot3_medkit_demo_nvidia bash # NVIDIA"
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echo ""
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echo "🛑 To stop: ./stop-demo.sh"
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fi

‎demos/turtlebot3_integration/stop-demo.sh‎

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#!/bin/bash
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# Stop TurtleBot3 + ros2_medkit Demo
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set -eu
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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cd "$SCRIPT_DIR"
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echo "🛑 Stopping TurtleBot3 + ros2_medkit Demo"
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echo "=========================================="
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# Check for Docker
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if ! command -v docker &> /dev/null; then
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echo "Error: Docker is not installed"
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exit 1
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fi
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# Parse arguments
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REMOVE_VOLUMES=""
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REMOVE_IMAGES=""
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usage() {
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echo "Usage: $0 [OPTIONS]"
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echo ""
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echo "Options:"
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echo " -v, --volumes Remove named volumes"
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echo " --images Remove images"
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echo " -h, --help Show this help message"
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echo ""
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echo "Examples:"
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echo " $0 # Stop containers"
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echo " $0 --volumes # Stop and remove volumes"
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echo " $0 --images # Stop and remove images"
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}
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while [[ $# -gt 0 ]]; do
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case "$1" in
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-v|--volumes)
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echo "Will remove named volumes"
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REMOVE_VOLUMES="-v"
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;;
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--images)
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echo "Will remove images"
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REMOVE_IMAGES="--rmi all"
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;;
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-h|--help)
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usage
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exit 0
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;;
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*)
51+
echo "Unknown option: $1"
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usage
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exit 1
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;;
55+
esac
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shift
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done
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# Stop containers
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echo "Stopping containers..."
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if docker compose version &> /dev/null; then
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# shellcheck disable=SC2086
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docker compose down ${REMOVE_VOLUMES} ${REMOVE_IMAGES}
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else
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# shellcheck disable=SC2086
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docker-compose down ${REMOVE_VOLUMES} ${REMOVE_IMAGES}
67+
fi
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# Cleanup X11
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echo "Cleaning up X11 permissions..."
71+
xhost -local:docker 2>/dev/null || true
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echo ""
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echo "✅ Demo stopped successfully!"

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