Deployment¶

For daily use you'll want the server running in the background, so the RViz panel and dashboard are always ready.

systemd user service¶

mkdir -p ~/.config/systemd/user
cp deploy/dds-autodiag.service ~/.config/systemd/user/
cp deploy/dds-autodiag.env.example ~/.config/dds-autodiag.env      # then edit
systemctl --user daemon-reload
systemctl --user enable --now dds-autodiag
journalctl --user -u dds-autodiag -f                               # logs

The unit sources ROS 2 before starting. AUTODIAG_VENV defaults to %h/dds-autodiag/.venv, the .venv from the installation guide when the repository is cloned into your home directory; set it in the unit if you cloned elsewhere, and adjust ROS_SETUP for your distro. Put settings such as ROS_DOMAIN_ID or AUTODIAG_UI_TOKEN in ~/.config/dds-autodiag.env.

A systemd user service starts when you log in. To start it at boot without a login, run loginctl enable-linger $USER once.

Docker¶

Released images are published to the GitHub Container Registry, so you don't need to install anything:

docker run --rm --net=host --ipc=host ghcr.io/animesh2507/dds-autodiag:0.1.0          # dashboard on 127.0.0.1:8080
docker run --rm --net=host --ipc=host ghcr.io/animesh2507/dds-autodiag:0.1.0 check    # one-shot check

Tags: X.Y.Z, X.Y and latest. To build the image yourself instead:

docker build -t ros2-dds-autodiag .
docker run --rm --net=host --ipc=host ros2-dds-autodiag

Why --net=host --ipc=host?

The container must see the same DDS graph and shared memory as your nodes. Without them, AutoDiag would only diagnose its own isolated network and IPC namespace.

The image is based on ros:jazzy-ros-base, builds the native core and BehaviorTree.CPP runner, runs as a non-root user, and has a health check on /api/healthz.

For a local multi-RMW fleet (Cyclone, Fast DDS, Zenoh, domain and QoS faults) see examples/lab-fleet/ (./run-lab.sh). That lab uses host networking and domain 87; it is not the production image.

Remote access¶

Keep the server on 127.0.0.1 and use an SSH tunnel:

ssh -L 8080:127.0.0.1:8080 robot

To listen on the network instead, a dashboard token is mandatory (serve refuses to start without one unless you pass --insecure-no-auth, for isolated networks only). Set AUTODIAG_AGENT_TOKEN as well if another AutoDiag should connect to this process under Hosts:

AUTODIAG_UI_TOKEN=$(openssl rand -hex 24) \
AUTODIAG_ALLOWED_HOSTS=robot1.local,192.168.1.20 \
dds-autodiag serve --host 0.0.0.0

AutoDiag has no TLS of its own; put a TLS reverse proxy in front of it for anything beyond a trusted network.

Health and monitoring¶

Endpoint	Use
`GET /api/healthz`	Liveness probe (no diagnostics run)
`GET /api/version`	Version and enabled features
`GET /api/selftest`	Tool check: every rule against its synthetic faults (27 fixtures)
`POST /api/live-rules`	Live rule check: every published rule on this host + optional peer + this host’s graph