feat: introduce webots demo package for rust robonix framework

.gitignore

@@ -25,3 +25,4 @@ test_performance
 publish_camera_tf.py
 tailscale/
 target
+stress_test

docker/Dockerfile

@@ -37,7 +37,9 @@ RUN apt update && apt install -y \
     libglfw3 \
     libglfw3-dev \
     mesa-utils \
-    libclang-dev python3-vcstool
+    libclang-dev python3-vcstool \
+    bash-completion \
+    fonts-lmodern
 
 # RUN apt update && apt install -y curl && \
 # curl -fsSL https://pkgs.tailscale.com/stable/ubuntu/focal.noarmor.gpg | tee /usr/share/keyrings/tailscale-archive-keyring.gpg >/dev/null && \

docker/docker-entrypoint.sh

@@ -17,6 +17,21 @@ source /opt/ros/humble/setup.bash
 
 echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
 
+# Enable bash completion
+if [ -f /usr/share/bash-completion/bash_completion ]; then
+    . /usr/share/bash-completion/bash_completion
+    echo "# Enable bash completion" >> ~/.bashrc
+    echo "if [ -f /usr/share/bash-completion/bash_completion ]; then" >> ~/.bashrc
+    echo "    . /usr/share/bash-completion/bash_completion" >> ~/.bashrc
+    echo "fi" >> ~/.bashrc
+elif [ -f /etc/bash_completion ]; then
+    . /etc/bash_completion
+    echo "# Enable bash completion" >> ~/.bashrc
+    echo "if [ -f /etc/bash_completion ]; then" >> ~/.bashrc
+    echo "    . /etc/bash_completion" >> ~/.bashrc
+    echo "fi" >> ~/.bashrc
+fi
+
 echo -e "[*] \033[1mWelcome to robonix docker environment!\033[0m Distro is: \033[33m$(lsb_release -ds 2>/dev/null || echo "Linux")\033[0m with ROS2 \033[33m$(echo $ROS_DISTRO)\033[0m"
 exec bash
 

rust/Makefile

@@ -2,8 +2,11 @@
 # Robonix Makefile
 #
 # Convenient commands for building and running Robonix components
+#
+# Tab completion: bash-completion is installed in Docker container
+# If tab completion doesn't work, ensure bash-completion is installed and enabled
 
-.PHONY: help build build-cli build-core build-sdk debug release install install-cli install-core source-sdk env clean test check setup-dev fmt
+.PHONY: help build build-cli build-core build-sdk debug release install install-cli install-core source-sdk env clean test test-all test-rust test-python test-cpp test-ros2 benchmark check setup-dev fmt test-framework
 .DEFAULT_GOAL := help
 
 # Default ROS2 distribution (can be overridden)
@@ -49,12 +52,22 @@ help:
 	@echo "  make check          - Run cargo check on all Rust projects"
 	@echo "  make clean          - Clean build artifacts"
 	@echo ""
+	@echo "Test commands:"
+	@echo "  make test           - Run all tests (Rust, Python)"
+	@echo "  make test-rust      - Run Rust CLI stress tests"
+	@echo "  make test-python    - Run Python stress tests"
+	@echo "  make benchmark      - Run benchmark suite with different concurrency levels"
+	@echo ""
 	@echo "Examples:"
 	@echo "  make build"
 	@echo "  make install"
 	@echo "  rbnx config --show"
 	@echo "  rbnx package list"
 	@echo "  eval \$$(make source-sdk)"
+	@echo ""
+	@echo "Tab Completion:"
+	@echo "  Tab completion for make targets is enabled automatically in Docker container"
+	@echo "  If it doesn't work, ensure bash-completion package is installed"
 
 # Build mode helper: determine cargo build flags
 ifeq ($(BUILD_MODE),release)
@@ -186,9 +199,9 @@ env:
 setup-dev:
 	@echo "Setting up development environment..."
 	@mkdir -p ~/.robonix
-	@if [ -L ~/.robonix/packages ]; then \
-		echo "Removing existing provider link..."; \
-		rm -f ~/.robonix/packages; \
+	@if [ -e ~/.robonix/packages ]; then \
+		echo "Removing existing packages path..."; \
+		rm -rf ~/.robonix/packages; \
 	fi
 	@ln -sf "$(PROVIDER_DIR)" ~/.robonix/packages
 	@echo "✓ Linked $(PROVIDER_DIR) to ~/.robonix/packages"
@@ -212,11 +225,57 @@ check:
 	cd $(CORE_DIR) && cargo check
 	@echo "✓ All checks passed"
 
-test:
-	@echo "Running tests..."
-	cd $(CLI_DIR) && cargo test || true
-	cd $(CORE_DIR) && cargo test || true
-	@echo "✓ Tests completed"
+# Test framework paths
+TEST_FRAMEWORK_DIR := $(RUST_DIR)/tools/test_framework
+TEST_RUST_DIR := $(TEST_FRAMEWORK_DIR)/rust_tests
+TEST_PYTHON_DIR := $(TEST_FRAMEWORK_DIR)/python_tests
+TEST_CPP_DIR := $(TEST_FRAMEWORK_DIR)/cpp_tests
+TEST_ROS2_DIR := $(TEST_FRAMEWORK_DIR)/ros2_tests
+
+# Test parameters (can be overridden)
+CONCURRENCY ?= 3
+REQUESTS ?= 1000
+RATE ?= 100
+DURATION ?= 0
+
+# Test commands
+test: test-all
+
+test-all: test-rust test-python
+	@echo "✓ All tests completed"
+
+test-rust:
+	@echo "Running Rust CLI stress tests (concurrency=$(CONCURRENCY), requests=$(REQUESTS))..."
+	@if [ -f "$(TEST_FRAMEWORK_DIR)/test.sh" ]; then \
+		bash $(TEST_FRAMEWORK_DIR)/test.sh rust rustdds $(CONCURRENCY) $(REQUESTS) $(RATE) $(DURATION); \
+	else \
+		echo "Test framework not found. Run 'make test-framework' first."; \
+		exit 1; \
+	fi
+
+test-python:
+	@echo "Running Python stress tests (concurrency=$(CONCURRENCY), requests=$(REQUESTS))..."
+	@if [ -f "$(TEST_FRAMEWORK_DIR)/test.sh" ]; then \
+		bash $(TEST_FRAMEWORK_DIR)/test.sh python rustdds $(CONCURRENCY) $(REQUESTS) $(RATE) $(DURATION); \
+	else \
+		echo "Test framework not found. Run 'make test-framework' first."; \
+		exit 1; \
+	fi
+
+
+benchmark:
+	@echo "Running benchmark suite with different concurrency levels..."
+	@if [ -f "$(TEST_FRAMEWORK_DIR)/benchmark.sh" ]; then \
+		bash $(TEST_FRAMEWORK_DIR)/benchmark.sh; \
+	else \
+		echo "Benchmark script not found."; \
+		exit 1; \
+	fi
+
+test-framework:
+	@echo "Setting up test framework..."
+	@echo "✓ Test framework ready"
+	@echo "Run 'make test' to execute all tests"
 
 # Clean commands
 clean:

rust/README.md

@@ -81,9 +81,12 @@ Keep this terminal running.
 You can control the verbosity of robonix-core logs by setting the `RUST_LOG` environment variable:
 
 ```bash
-# Show only info, warn, and error messages (default)
-robonix-core
+# preferred way to start robonix-core with debug logs and web GUI
+ROBONIX_WEB_STATIC_DIR="$(pwd)/robonix-core/web_gui/static" \
+ROBONIX_WEB_PORT=8000 \
+RUST_LOG=robonix_core=debug robonix-core
 
+# alternative ways for RUST_LOG options
 # Show debug messages for robonix-core module
 RUST_LOG=robonix_core=debug robonix-core
 # Show debug messages for all modules, you can see rustdds logs too for example
@@ -123,6 +126,7 @@ rbnx package list
 # View package details
 rbnx package info <package_name>
 # Build all packages
+rbnx package build
 rbnx package build all
 ```
 
@@ -245,7 +249,8 @@ ros2 service type /rbnx/task/submit
 
 ### Clean up all ROS2 processes
 ```bash
-pkill -9 -f "ros2|robonix|rclpy|rclcpp|demo_rgb_provider"
+pkill -9 -f "ros2|robonix|rclpy|rclcpp|demo_rgb_provider|stress|webots"
+rm -f /dev/shm/sem.fastrtps_* /dev/shm/fastrtps_*
 ```
 
 ## System Architecture

rust/demo_recipe.yaml

@@ -6,13 +6,25 @@
 # arbitrary selection of which primitives, services, and skills to register.
 
 name: demo_recipe
-description: Demo recipe showing how to selectively register primitives, services, and skills from packages
+description: Demo recipe for Tiago robot with semantic map service and navigation skills
 
 packages:
-  # Example 1: Register all primitives, services, and skills from a package
-  # (when primitives, services, and skills are not specified, all will be registered)
-  - name: demo_rgb_provider
-    # primitives: []  # If not specified, all primitives will be registered
-    # services: []    # If not specified, all services will be registered
-    # skills: []      # If not specified, all skills will be registered
-  - name: demo_service_provider
+  # Tiago demo package - provides camera, depth, pose, and navigation primitives
+  - name: tiago_demo_package
+    primitives:
+      - prm::camera.capture
+      - prm::camera.depth
+      - prm::base.pose
+      - prm::base.navigate
+
+  # Demo service provider - provides semantic_map and task_plan services
+  - name: demo_service_provider
+    services:
+      - srv::semantic_map
+      - srv::task_plan
+
+  # Navigation skills provider - provides wandering and move_to_object skills
+  - name: navigation_skills_provider
+    skills:
+      - skl::wandering
+      - skl::move_to_object

rust/kill.sh

@@ -0,0 +1,2 @@
+pkill -9 -f "ros2|robonix|rclpy|rclcpp|demo_rgb_provider|stress|webots"
+rm -f /dev/shm/sem.fastrtps_* /dev/shm/fastrtps_*