v0.1.0

Changelog

All notable changes to ros2_medkit are documented in this file.

The format is based on Keep a Changelog <https://keepachangelog.com/en/1.1.0/>,
and this project adheres to Semantic Versioning <https://semver.org/spec/v2.0.0.html>.

[0.1.0] - 2026-02-01

First public release of ros2_medkit.

Added

Gateway (ros2_medkit_gateway)

• REST API gateway exposing ROS 2 graph via SOVD-compatible endpoints
• Discovery endpoints: /areas, /components, /apps, /functions
• Data access: Read topic data, publish to topics
• Operations: Call ROS 2 services and actions with execution tracking
• Configurations: Read/write/reset ROS 2 node parameters
• Faults: Query and clear faults from fault manager
• Three discovery modes: runtime_only, hybrid, manifest_only
• Manifest-based discovery with YAML system definitions
• Heuristic app detection in runtime mode
• JWT authentication with RBAC (viewer, operator, configurator, admin roles)
• TLS/HTTPS support with configurable TLS 1.2/1.3
• CORS configuration for browser clients
• SSE (Server-Sent Events) for real-time fault notifications
• Health check endpoint

Fault Manager (ros2_medkit_fault_manager)

• Centralized fault storage and management node
• ROS 2 services: report_fault, get_faults, clear_fault
• AUTOSAR DEM-style debounce lifecycle (PREFAILED → CONFIRMED → HEALED → CLEARED)
• Fault aggregation from multiple sources
• Severity escalation
• In-memory storage with thread-safe implementation

Fault Reporter (ros2_medkit_fault_reporter)

• Client library for reporting faults from ROS 2 nodes
• Local filtering with configurable threshold and time window
• Fire-and-forget async service calls
• High-severity bypass for immediate fault reporting

Diagnostic Bridge (ros2_medkit_diagnostic_bridge)

• Bridge node converting /diagnostics messages to fault manager faults
• Configurable severity mapping from diagnostic status levels
• Support for diagnostic arrays with multiple status entries

Serialization (ros2_medkit_serialization)

• Runtime JSON ↔ ROS 2 message serialization
• Dynamic message introspection without compile-time type knowledge
• Support for all ROS 2 built-in types, arrays, nested messages
• Type caching for performance

Messages (ros2_medkit_msgs)

• Fault.msg: Fault status message with severity, timestamps, sources
• FaultEvent.msg: Fault event for subscriptions
• ReportFault.srv: Service for reporting faults
• GetFaults.srv: Service for querying faults with filters
• ClearFault.srv: Service for clearing faults

Documentation

• Sphinx documentation with Doxygen integration
• Getting Started tutorial
• REST API reference
• Configuration reference (server, discovery, manifest)
• Authentication and HTTPS tutorials
• Docker deployment guide
• Companion project tutorials (web-ui, mcp-server)

Tooling

• Postman collection for API testing
• Development container configuration
• GitHub Actions CI/CD pipeline

Companion Projects

• sovd_web_ui <https://github.com/selfpatch/sovd_web_ui>_: Web interface for entity browsing
• ros2_medkit_mcp <https://github.com/selfpatch/ros2_medkit_mcp>_: MCP server for LLM integration

SOVD Compliance

This release implements a subset of the SOVD (Service-Oriented Vehicle Diagnostics)
specification adapted for ROS 2:

• Core discovery endpoints (areas, components)
• Extended discovery (apps, functions) via manifest mode
• Data access (read, write)
• Operations (services, actions with executions)
• Configurations (parameters)
• Faults (query, clear)

Not yet implemented:

• Bulk data transfer
• Software updates
• Locks
• Triggers
• Communication logs