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feat(vda5050): add VDA 5050 msgs + ros2_medkit Service Interface plugin#331

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feat/vda5050-service-interface
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feat(vda5050): add VDA 5050 msgs + ros2_medkit Service Interface plugin#331
mfaferek93 wants to merge 8 commits intomainfrom
feat/vda5050-service-interface

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@mfaferek93 mfaferek93 commented Mar 31, 2026 •
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Summary

Add ros2_medkit_sovd_service_interface gateway plugin exposing medkit data via ROS 2 services, plus new service/message types in ros2_medkit_msgs.

Motivation

Exposes medkit entity tree, faults, and capabilities via ROS 2 services - reusable by VDA 5050 agent, BT.CPP, PlotJuggler, RTMaps, and any ROS 2 consumer without HTTP dependency.

Architecture

ROS 2 consumer (VDA 5050 agent, BT.CPP, etc.)
          |
     ROS 2 services (/medkit/*)
          |
SOVD Service Interface Plugin (this PR)
          |
     medkit gateway

New package: ros2_medkit_sovd_service_interface

Gateway plugin (PLUGIN_API_VERSION = 4, MODULE library, dlopen) with 4 ROS 2 service servers:

Service Description
ListEntities List all discovered entities (apps, components, areas)
ListFaultsForEntity Get faults with timestamps for an entity
GetEntityData Stub - requires PluginContext extension (#351)
GetCapabilities Get SOVD capabilities for an entity
  • 10 unit tests with FakePluginContext
  • README with usage docs

Changes to ros2_medkit_msgs

  • New: EntityInfo.msg, ListEntities.srv, GetEntityData.srv, GetCapabilities.srv

Test plan

  • ros2_medkit_msgs builds with new srvs
  • ros2_medkit_sovd_service_interface 10/10 unit tests pass
  • Test domain IDs: 1-9 (no collision with peer_aggregation at 230)
  • Review findings from @bburda addressed
  • CI matrix (Humble + Jazzy + Rolling)

Closes #330

Copilot AI review requested due to automatic review settings March 31, 2026 16:07
@mfaferek93 mfaferek93 self-assigned this Mar 31, 2026
Copilot AI reviewed Mar 31, 2026
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Pull request overview

This PR introduces VDA 5050 v2.0.0 ROS 2 interface definitions and adds a gateway plugin that exposes the medkit entity tree, faults, and capabilities over ROS 2 services (intended for consumption by a VDA 5050 agent and other ROS 2 tools).

Changes:

  • Added new ros2_medkit_vda5050_msgs package providing VDA 5050 v2.0.0 message definitions.
  • Extended ros2_medkit_msgs with new service interfaces (ListEntities, GetEntityData, GetCapabilities) and EntityInfo for service responses.
  • Added ros2_medkit_sovd_service_interface plugin implementing ROS 2 service servers plus unit tests and test-domain allocation.

Reviewed changes

Copilot reviewed 58 out of 58 changed files in this pull request and generated 6 comments.

Show a summary per file
File Description
src/ros2_medkit_vda5050_msgs/package.xml Declares the new VDA 5050 message package metadata.
src/ros2_medkit_vda5050_msgs/CMakeLists.txt Builds/generates ROS 2 interfaces for the VDA 5050 message set.
src/ros2_medkit_vda5050_msgs/msg/WheelPosition.msg Adds WheelPosition factsheet sub-type message.
src/ros2_medkit_vda5050_msgs/msg/WheelDefinition.msg Adds WheelDefinition factsheet sub-type message.
src/ros2_medkit_vda5050_msgs/msg/Visualization.msg Adds Visualization top-level MQTT topic message.
src/ros2_medkit_vda5050_msgs/msg/Velocity.msg Adds Velocity message.
src/ros2_medkit_vda5050_msgs/msg/TypeSpecification.msg Adds TypeSpecification factsheet sub-type message.
src/ros2_medkit_vda5050_msgs/msg/Trajectory.msg Adds Trajectory message.
src/ros2_medkit_vda5050_msgs/msg/Timing.msg Adds Timing factsheet sub-type message.
src/ros2_medkit_vda5050_msgs/msg/State.msg Adds State top-level MQTT topic message.
src/ros2_medkit_vda5050_msgs/msg/SafetyState.msg Adds SafetyState message.
src/ros2_medkit_vda5050_msgs/msg/ProtocolLimits.msg Adds ProtocolLimits factsheet sub-type message.
src/ros2_medkit_vda5050_msgs/msg/ProtocolFeatures.msg Adds ProtocolFeatures factsheet sub-type message.
src/ros2_medkit_vda5050_msgs/msg/PhysicalParameters.msg Adds PhysicalParameters factsheet sub-type message.
src/ros2_medkit_vda5050_msgs/msg/Order.msg Adds Order top-level MQTT topic message.
src/ros2_medkit_vda5050_msgs/msg/OptionalParameter.msg Adds OptionalParameter factsheet sub-type message.
src/ros2_medkit_vda5050_msgs/msg/NodeState.msg Adds NodeState message.
src/ros2_medkit_vda5050_msgs/msg/NodePosition.msg Adds NodePosition message.
src/ros2_medkit_vda5050_msgs/msg/Node.msg Adds Node message.
src/ros2_medkit_vda5050_msgs/msg/MaxStringLens.msg Adds MaxStringLens factsheet sub-type message.
src/ros2_medkit_vda5050_msgs/msg/MaxArrayLens.msg Adds MaxArrayLens factsheet sub-type message.
src/ros2_medkit_vda5050_msgs/msg/LoadSpecification.msg Adds LoadSpecification factsheet sub-type message.
src/ros2_medkit_vda5050_msgs/msg/LoadSet.msg Adds LoadSet factsheet sub-type message.
src/ros2_medkit_vda5050_msgs/msg/LoadDimensions.msg Adds LoadDimensions message.
src/ros2_medkit_vda5050_msgs/msg/Load.msg Adds Load message.
src/ros2_medkit_vda5050_msgs/msg/InstantActions.msg Adds InstantActions top-level MQTT topic message.
src/ros2_medkit_vda5050_msgs/msg/InfoEntry.msg Adds InfoEntry message.
src/ros2_medkit_vda5050_msgs/msg/HeaderId.msg Adds HeaderId shared header message.
src/ros2_medkit_vda5050_msgs/msg/Factsheet.msg Adds Factsheet top-level MQTT topic message.
src/ros2_medkit_vda5050_msgs/msg/ErrorReference.msg Adds ErrorReference/InfoReference message.
src/ros2_medkit_vda5050_msgs/msg/ErrorEntry.msg Adds ErrorEntry message.
src/ros2_medkit_vda5050_msgs/msg/Envelope3d.msg Adds Envelope3d factsheet sub-type message.
src/ros2_medkit_vda5050_msgs/msg/Envelope2d.msg Adds Envelope2d factsheet sub-type message.
src/ros2_medkit_vda5050_msgs/msg/EdgeState.msg Adds EdgeState message.
src/ros2_medkit_vda5050_msgs/msg/Edge.msg Adds Edge message.
src/ros2_medkit_vda5050_msgs/msg/ControlPoint.msg Adds ControlPoint message.
src/ros2_medkit_vda5050_msgs/msg/Connection.msg Adds Connection top-level MQTT topic message.
src/ros2_medkit_vda5050_msgs/msg/BoundingBoxReference.msg Adds BoundingBoxReference message.
src/ros2_medkit_vda5050_msgs/msg/BatteryState.msg Adds BatteryState message.
src/ros2_medkit_vda5050_msgs/msg/AgvPosition.msg Adds AgvPosition message.
src/ros2_medkit_vda5050_msgs/msg/AgvGeometry.msg Adds AgvGeometry factsheet sub-type message.
src/ros2_medkit_vda5050_msgs/msg/AgvActionParameter.msg Adds AgvActionParameter factsheet sub-type message.
src/ros2_medkit_vda5050_msgs/msg/AgvAction.msg Adds AgvAction factsheet sub-type message.
src/ros2_medkit_vda5050_msgs/msg/ActionState.msg Adds ActionState message.
src/ros2_medkit_vda5050_msgs/msg/ActionParameter.msg Adds ActionParameter message.
src/ros2_medkit_vda5050_msgs/msg/Action.msg Adds Action message.
src/ros2_medkit_plugins/ros2_medkit_sovd_service_interface/package.xml Declares the new service-interface plugin package metadata.
src/ros2_medkit_plugins/ros2_medkit_sovd_service_interface/CMakeLists.txt Builds the dlopen’d plugin module and its gtest target; allocates test domain IDs.
src/ros2_medkit_plugins/ros2_medkit_sovd_service_interface/src/sovd_service_interface.hpp Declares the plugin class and service callbacks.
src/ros2_medkit_plugins/ros2_medkit_sovd_service_interface/src/sovd_service_interface.cpp Implements ROS 2 services for entity listing, fault listing, data, and capabilities.
src/ros2_medkit_plugins/ros2_medkit_sovd_service_interface/src/service_exports.cpp Exports plugin entry points for PluginManager loading.
src/ros2_medkit_plugins/ros2_medkit_sovd_service_interface/test/test_sovd_service_interface.cpp Adds unit tests using a fake PluginContext and in-process ROS 2 services.
src/ros2_medkit_msgs/msg/EntityInfo.msg Adds a message type for entity descriptors returned by services.
src/ros2_medkit_msgs/srv/ListEntities.srv Adds a service to list entities with type/parent filters.
src/ros2_medkit_msgs/srv/GetEntityData.srv Adds a service for retrieving entity data as JSON.
src/ros2_medkit_msgs/srv/GetCapabilities.srv Adds a service for querying SOVD capabilities.
src/ros2_medkit_msgs/CMakeLists.txt Registers the new msg/srv interfaces for code generation.
src/ros2_medkit_cmake/cmake/ROS2MedkitTestDomain.cmake Documents the newly reserved ROS_DOMAIN_ID range for this plugin’s tests.

@mfaferek93 mfaferek93 changed the title feat(vda5050): add VDA 5050 msgs + SOVD Service Interface plugin feat(vda5050): add VDA 5050 msgs + ros2_medkit Service Interface plugin Mar 31, 2026
@mfaferek93
feat(vda5050): add VDA 5050 message definitions and SOVD Service Inte…
83c229b 
…rface plugin

Add vendor-neutral VDA 5050 v2.0.0 message definitions (44 msg files)
and a gateway plugin exposing medkit entity/fault data via ROS 2 services.

New packages:
- ros2_medkit_vda5050_msgs: all VDA 5050 v2.0.0 types (Order, State,
  InstantActions, Connection, Visualization, Factsheet + sub-messages)
- ros2_medkit_sovd_service_interface: gateway plugin creating 4 ROS 2
  service servers (ListEntities, ListFaultsForEntity, GetEntityData,
  GetCapabilities) for consumption by VDA 5050 agent, BT.CPP, etc.

New services in ros2_medkit_msgs:
- ListEntities.srv, GetEntityData.srv, GetCapabilities.srv, EntityInfo.msg

Closes #330
@mfaferek93
style(sovd_service_interface): fix clang-format lint failures
0392de9
@mfaferek93 mfaferek93 force-pushed the feat/vda5050-service-interface branch from 682e20a to 0392de9 Compare April 4, 2026 17:02
@mfaferek93
fix: address review findings for VDA 5050 service interface
7223118 
- GetEntityData: return explicit not-implemented error instead of
  silent empty JSON (B1)
- ListEntities.srv: fix parent_id comment to match code behavior -
  empty string means no filter, not top-level (B2)
- LoadSet.msg: add missing VDA 5050 v2.0.0 spec fields
  (bounding_box_reference, load_dimensions, load_positions, etc.) (M1)
- ActionState.msg: document PAUSED as forward-compat extension from
  v2.1+, not in v2.0.0 (M2)
- Add tests: entity-level GetCapabilities, type fallback, combined
  type+parent filter, GetEntityData not-found (M3)
- Extract entity_type_from_string() helper replacing inline ternary
  chain (m4)
- Use nlohmann::json value() with defaults for type-safe fault
  deserialization (m3)
- Functions: use empty FQN instead of duplicating id (m1)
- Use global rclcpp test environment instead of per-test init/shutdown
  (m5)
- Check spin_until_future_complete return code in all tests (m8)
- Add Required/Optional markers to Velocity.msg, WheelPosition.msg (m7)
@mfaferek93
style: fix clang-format InsertBraces in entity_type_from_string
aceadf4
@mfaferek93
style: fix remaining InsertBraces format issue
a6a53df
@mfaferek93 mfaferek93 requested a review from bburda April 4, 2026 18:55
bburda
bburda reviewed Apr 5, 2026
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Four findings to consider before merge. All APIs used in this PR were verified against the current codebase.

bburda
bburda reviewed Apr 5, 2026
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Second review focused on VDA 5050 v2.0.0 spec conformance. Cross-referenced against the canonical schemas at https://github.com/VDA5050/VDA5050/tree/2.0.0/json_schemas. Found several concrete interoperability bugs that would cause a strict v2.0.0 validator (fleet manager) to reject messages from these types.

@mfaferek93
refactor: remove unused ros2_medkit_vda5050_msgs package
03c358b 
VDA 5050 agent uses standalone C++ types with nlohmann/json serialization
(vda5050_types.hpp) instead of ROS 2 message types. The msgs package was
never imported by any package in the repo and had 6 interop-breaking
schema errors identified in review.

The SOVD Service Interface plugin (which stays) uses ros2_medkit_msgs
for its service types, not VDA 5050 msgs.
@mfaferek93
fix: address review findings from PR #331
1ee29c2 
- Populate fault timestamps (first/last_occurred) from JSON response
- Fix TODO reference (removed stale #332 link)
- Add README.md for sovd_service_interface plugin
- Move test domain range from 230-232 to 1-9 (avoid collision with
  peer_aggregation secondary domains at 230)
@mfaferek93
fix: link GetEntityData stub to tracking issue #351
d0f8dfc
@mfaferek93 mfaferek93 requested a review from bburda April 5, 2026 20:28
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Add VDA 5050 message definitions and ros2_medkit Service Interface plugin

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