Medkit, published as ros2_medkit, is an open-source diagnostics gateway for ROS 2. It runs on your robot, finds every node by itself and turns each failure into a clear fault, with a snapshot and a rosbag, on one REST API.

Which ROS 2 versions does it support?

Jazzy, Humble and Lyrical, on Ubuntu 24.04, 22.04 and 26.04. Install it with apt, Docker or from source.

Do I need to change my code?

No. It listens to what your robot already publishes: error logs, failed actions and /diagnostics. For more control, report faults from your own nodes with the FaultReporter client.

How is it different from diagnostic_updater?

diagnostic_updater publishes status on /diagnostics from the nodes you instrument. Medkit can read /diagnostics too, adds faults from logs and failed actions, keeps a snapshot and a rosbag of each, and serves it all on one REST API.

Does it follow a standard?

Yes. Its REST API follows SOVD (ISO 17978), the diagnostics standard from the automotive world.

How does it compare with Medkit Pro and the Diagnostics Box?

Medkit is the open-source core. The comparison shows what Medkit Pro and the Diagnostics Box add.

Medkit (ros2_medkit), diagnostics for ROS 2 robots

A sealed black robot whose shoulder status light has gone red

My shoulder motor overheated to 105.5 °C.

I’ve saved a snapshot and the rosbag.

My shoulder motor overheated to 105.5 °C.

I’ve saved a snapshot and the rosbag.

Medkit is the diagnostic stack for your robots. It runs on board, finds every part by itself and turns each failure into a clear fault, with a recording of that moment. All on one standard API.

Diagnostics

Stop digging. Ask the robot.

Without Medkit

$ ros2 launch robot_bringup bringup.launch.py

[INFO] spawner_joint_state_broadcaster: waiting for service /controller_manager/list_controllers to become available...[INFO] spawner_diff_drive_controller: waiting for service /controller_manager/list_controllers to become available...[INFO] spawner_imu_sensor_broadcaster: waiting for service /controller_manager/list_controllers to become available...[WARN] controller_manager: Waiting for data on 'robot_description' topic to finish initialization[WARN] camera: No RealSense devices were found![WARN] battery_driver: An exception occurred while reading battery data: Waiting for driver state message to arrive.[INFO] safety_manager: Waiting for required system messages to arrive.[ERROR] urg_node: Error connecting to Hokuyo: Could not open network Hokuyo[WARN] motor_controller: Feedback message from motors wasn't received yet[INFO] phidgets_spatial: Calibrating IMU, this takes around 2 seconds to finish. Make sure that the device is not moved during this time.[INFO] local_costmap: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID 'odom' passed to canTransform argument target_frame - frame does not exist[INFO] local_costmap: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID 'odom' passed to canTransform argument target_frame - frame does not exist[ERROR] urg_node: Error connecting to Hokuyo: Could not open network Hokuyo[INFO] global_costmap: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID 'map' passed to canTransform argument target_frame - frame does not exist[INFO] global_costmap: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID 'map' passed to canTransform argument target_frame - frame does not exist[INFO] global_costmap: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID 'map' passed to canTransform argument target_frame - frame does not exist[INFO] global_costmap: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID 'map' passed to canTransform argument target_frame - frame does not exist[ERROR] urg_node: Error connecting to Hokuyo: Could not open network Hokuyo

160+ log lines.

19 faults from 15 nodes. Which one broke it?

With Medkit

$ curl robot:8080/api/v1/faults

Lidar not connected

/urg_node

6 faults it caused, grouped under it

1 cause.

In one request, with its symptoms under it.

In action

It got stuck. Then it fixed itself.

Medkit knows every part

Medkit Finds every node
GET /apps → 15 apps

Medkit on the robot
Platform in the cloud
Medic AI in Platform

Less data

Keep the fault. Not the whole day.

Without Medkit

1.5 TB

the whole day

With Medkit

414 MB

only what matters

One API

Everything your robots need, built in.

All 12 ready

Maps the whole robot by itself: every node, and what each one is part of.
GET /apps
Every failure as a clear fault, live, with its snapshot and rosbag.
GET /faults
Pull rosbags off the robot. Push files onto it, like calibration or firmware.
GET /apps/urg_node/bulk-data/rosbags
Read any topic as it changes, or publish to it, with no ROS 2 on your side.
GET /apps/urg_node/data/scan
Read and change any node’s parameters while it runs, or reset them.
PUT /apps/urg_node/configurations/ip_address
Call the robot’s services and actions, like docking, and follow them to the end.
POST /apps/docking_server/operations/dock_robot/executions
See whether each part is up, and start, restart or shut it down.
PUT /apps/urg_node/status/restart
Get told the moment a value changes or crosses a limit.
POST /apps/urg_node/triggers
Upload diagnostic scripts and run them on the robot when you need them.
POST /apps/urg_node/scripts/self_test/executions
Hold a part so no one else changes it while you work. It frees itself in time.
POST /apps/urg_node/locks
Read any node’s logs over the API, filtered by level.
GET /apps/urg_node/logs
Decide who may look, who may act and who may change settings.
POST /auth/token

Finds every node

Maps the whole robot by itself: every node, and what each one is part of.

GET /apps

All of it, from one install.

Who it’s for.

Robot makers
Ship robots that explain themselves.
“I can debug a field failure from my desk.”
Integrators
One API, whoever built the robot.
“Every failure on site reaches me with its rosbag.”
Operators
See what broke, the moment it does.
“I don’t have to press anything. It’s already recorded.”

How to install.

An official ROS 2 package. Run it natively, or on top in its own container.

Plans.

Plans.
Plans.	Medkit Free to start Open source, Apache 2.0 Install it	Medkit ProCommercial Per robot Volume pricing Talk to us
Every fault with its snapshot and rosbag	Included	Included
One open API (SOVD, ISO 17978)	Included	Included
Runs on ROS 2 robots	Included	Included
Bridges beyond ROS 2	Not included	Included
Updates over the air	Not included	Included
End-of-line testing	Not included	Included
Support with an SLA	Not included	Included

Extras

Compare all features →

Medkit Box

Medkit on its own hardware, for PLC lines.

Hardware + license

See the Box →

Integration with your stack

We build a new bridge or connect Medkit to your stack.

Per project

Talk to us →