diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 2c58a2a..c011f90 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -35,7 +35,7 @@ jobs:
           YAMLLINT_CONFIG="{extends: relaxed, rules: {line-length: {max: 120}}}"
           find . \( -name "*.yaml" -o -name "*.yml" \) -type f | xargs yamllint -d "$YAMLLINT_CONFIG"
 
-  docker-build:
+  build-and-test-sensor:
     runs-on: ubuntu-24.04
     steps:
       - name: Show triggering source
@@ -54,20 +54,65 @@ jobs:
       - name: Checkout repository
         uses: actions/checkout@v4
 
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
+      - name: Build and start sensor_diagnostics demo
+        working-directory: demos/sensor_diagnostics
+        run: docker compose --profile ci up -d --build sensor-demo-ci
 
-      - name: Build Sensor Diagnostics demo image
-        run: |
-          cd demos/sensor_diagnostics
-          docker build -t sensor-diagnostics-demo:test -f Dockerfile .
+      - name: Run smoke tests
+        run: ./tests/smoke_test.sh
 
-      - name: Build TurtleBot3 demo image
-        run: |
-          cd demos/turtlebot3_integration
-          docker build -t turtlebot3-medkit-demo:test -f Dockerfile .
+      - name: Show container logs on failure
+        if: failure()
+        working-directory: demos/sensor_diagnostics
+        run: docker compose --profile ci logs sensor-demo-ci --tail=200
 
-      - name: Build MoveIt Pick-and-Place demo image
-        run: |
-          cd demos/moveit_pick_place
-          docker build -t moveit-pick-place-demo:test -f Dockerfile .
+      - name: Teardown
+        if: always()
+        working-directory: demos/sensor_diagnostics
+        run: docker compose --profile ci down
+
+  build-and-test-turtlebot:
+    runs-on: ubuntu-24.04
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Build and start turtlebot3 demo
+        working-directory: demos/turtlebot3_integration
+        run: docker compose --profile ci up -d --build turtlebot3-demo-ci
+
+      - name: Run smoke tests
+        run: ./tests/smoke_test_turtlebot3.sh
+
+      - name: Show container logs on failure
+        if: failure()
+        working-directory: demos/turtlebot3_integration
+        run: docker compose --profile ci logs turtlebot3-demo-ci --tail=200
+
+      - name: Teardown
+        if: always()
+        working-directory: demos/turtlebot3_integration
+        run: docker compose --profile ci down
+
+  build-and-test-moveit:
+    runs-on: ubuntu-24.04
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Build and start moveit demo
+        working-directory: demos/moveit_pick_place
+        run: docker compose --profile ci up -d --build moveit-demo-ci
+
+      - name: Run smoke tests
+        run: ./tests/smoke_test_moveit.sh
+
+      - name: Show container logs on failure
+        if: failure()
+        working-directory: demos/moveit_pick_place
+        run: docker compose --profile ci logs moveit-demo-ci --tail=200
+
+      - name: Teardown
+        if: always()
+        working-directory: demos/moveit_pick_place
+        run: docker compose --profile ci down
diff --git a/README.md b/README.md
index 91e9bde..9813666 100644
--- a/README.md
+++ b/README.md
@@ -173,6 +173,19 @@ curl http://localhost:8080/api/v1/faults | jq
 
 See individual demo READMEs for more examples.
 
+## Testing
+
+Each demo has automated smoke tests that verify the gateway starts and the REST API works correctly:
+
+```bash
+# Run smoke tests against a running demo (default: http://localhost:8080)
+./tests/smoke_test.sh              # Sensor diagnostics (21 tests, incl. fault injection)
+./tests/smoke_test_turtlebot3.sh   # TurtleBot3 (entity discovery)
+./tests/smoke_test_moveit.sh       # MoveIt pick-and-place (entity discovery)
+```
+
+CI runs all 3 demos in parallel - each job builds the Docker image, starts the container, and runs the smoke tests against it. See [CI workflow](.github/workflows/ci.yml).
+
 ## Related Projects
 
 - [ros2_medkit](https://github.com/selfpatch/ros2_medkit) — Core diagnostics library with SOVD-compliant gateway
diff --git a/demos/moveit_pick_place/config/medkit_params.yaml b/demos/moveit_pick_place/config/medkit_params.yaml
index 5874a79..f72ef9f 100644
--- a/demos/moveit_pick_place/config/medkit_params.yaml
+++ b/demos/moveit_pick_place/config/medkit_params.yaml
@@ -18,14 +18,11 @@ diagnostics:
         allow_credentials: false
         max_age_seconds: 86400
 
-      max_parallel_topic_samples: 10
-
       # Discovery configuration
-      discovery_mode: "hybrid"  # runtime_only, manifest_only, or hybrid
-      manifest_path: ""  # Will be set via launch argument
-      manifest_strict_validation: true
-
       discovery:
+        mode: "hybrid"  # runtime_only, manifest_only, or hybrid
+        manifest_path: ""  # Will be set via launch argument
+        manifest_strict_validation: true
         runtime:
           create_synthetic_components: false  # Manifest defines components
 
diff --git a/demos/moveit_pick_place/docker-compose.yml b/demos/moveit_pick_place/docker-compose.yml
index 69d56c2..482493b 100644
--- a/demos/moveit_pick_place/docker-compose.yml
+++ b/demos/moveit_pick_place/docker-compose.yml
@@ -62,6 +62,23 @@ services:
                source /root/demo_ws/install/setup.bash &&
                ros2 launch moveit_medkit_demo $${LAUNCH_FILE} headless:=$${HEADLESS}"
 
+  # For CI testing - fake hardware (no Gazebo), tests run externally
+  moveit-demo-ci:
+    profiles: ["ci"]
+    build:
+      context: .
+      dockerfile: Dockerfile
+    container_name: moveit_medkit_demo_ci
+    environment:
+      - ROS_DOMAIN_ID=40
+    ports:
+      - "8080:8080"
+    command: >
+      bash -c "mkdir -p /var/lib/ros2_medkit/rosbags &&
+               source /opt/ros/jazzy/setup.bash &&
+               source /root/demo_ws/install/setup.bash &&
+               ros2 launch moveit_medkit_demo demo.launch.py headless:=true"
+
   # SOVD Web UI — pre-built from GHCR
   sovd-web-ui:
     image: ghcr.io/selfpatch/sovd_web_ui:latest
diff --git a/demos/moveit_pick_place/launch/demo.launch.py b/demos/moveit_pick_place/launch/demo.launch.py
index 36a66c3..85d4d5c 100644
--- a/demos/moveit_pick_place/launch/demo.launch.py
+++ b/demos/moveit_pick_place/launch/demo.launch.py
@@ -126,7 +126,7 @@ def generate_launch_description():
                     medkit_params_file,
                     {
                         "use_sim_time": use_sim_time,
-                        "manifest_path": manifest_file,
+                        "discovery.manifest_path": manifest_file,
                     },
                 ],
             ),
diff --git a/demos/moveit_pick_place/launch/demo_gazebo.launch.py b/demos/moveit_pick_place/launch/demo_gazebo.launch.py
index 3a700f6..5107d38 100644
--- a/demos/moveit_pick_place/launch/demo_gazebo.launch.py
+++ b/demos/moveit_pick_place/launch/demo_gazebo.launch.py
@@ -470,7 +470,7 @@ def generate_launch_description():
                     medkit_params_file,
                     {
                         "use_sim_time": True,
-                        "manifest_path": manifest_file,
+                        "discovery.manifest_path": manifest_file,
                     },
                 ],
             ),
diff --git a/demos/sensor_diagnostics/config/medkit_params.yaml b/demos/sensor_diagnostics/config/medkit_params.yaml
index 17d9a78..9bd2eca 100644
--- a/demos/sensor_diagnostics/config/medkit_params.yaml
+++ b/demos/sensor_diagnostics/config/medkit_params.yaml
@@ -16,14 +16,11 @@ diagnostics:
         allow_credentials: false
         max_age_seconds: 86400
 
-      max_parallel_topic_samples: 10
-
       # Discovery configuration
-      discovery_mode: "hybrid"  # runtime_only, manifest_only, or hybrid
-      manifest_path: ""  # Will be set via launch argument
-      manifest_strict_validation: true
-
       discovery:
+        mode: "hybrid"  # runtime_only, manifest_only, or hybrid
+        manifest_path: ""  # Will be set via launch argument
+        manifest_strict_validation: true
         runtime:
           create_synthetic_components: false  # Manifest defines components
 
diff --git a/demos/sensor_diagnostics/docker-compose.yml b/demos/sensor_diagnostics/docker-compose.yml
index 541d864..cc11a54 100644
--- a/demos/sensor_diagnostics/docker-compose.yml
+++ b/demos/sensor_diagnostics/docker-compose.yml
@@ -28,7 +28,7 @@ services:
     depends_on:
       - sensor-demo
 
-  # For CI testing - headless mode with quick exit
+  # For CI testing - headless mode, tests run externally
   sensor-demo-ci:
     profiles: ["ci"]
     build:
@@ -43,8 +43,4 @@ services:
       bash -c "mkdir -p /var/lib/ros2_medkit/rosbags &&
                source /opt/ros/jazzy/setup.bash &&
                source /root/demo_ws/install/setup.bash &&
-               ros2 launch sensor_diagnostics_demo demo.launch.py &
-               sleep 10 &&
-               curl -sf http://localhost:8080/api/v1/health &&
-               curl -sf http://localhost:8080/api/v1/apps | jq '.items[] | .id' &&
-               echo 'CI validation passed!'"
+               ros2 launch sensor_diagnostics_demo demo.launch.py"
diff --git a/demos/sensor_diagnostics/launch/demo.launch.py b/demos/sensor_diagnostics/launch/demo.launch.py
index 4a35590..85a55a4 100644
--- a/demos/sensor_diagnostics/launch/demo.launch.py
+++ b/demos/sensor_diagnostics/launch/demo.launch.py
@@ -119,7 +119,7 @@ def generate_launch_description():
                 parameters=[
                     medkit_params_file,
                     {"use_sim_time": use_sim_time},
-                    {"manifest_path": manifest_file},
+                    {"discovery.manifest_path": manifest_file},
                 ],
             ),
             # ===== Fault Manager (at root namespace) =====
diff --git a/demos/turtlebot3_integration/config/medkit_params.yaml b/demos/turtlebot3_integration/config/medkit_params.yaml
index 5b7a1f5..fdc605f 100644
--- a/demos/turtlebot3_integration/config/medkit_params.yaml
+++ b/demos/turtlebot3_integration/config/medkit_params.yaml
@@ -17,14 +17,11 @@ diagnostics:
         allow_credentials: false
         max_age_seconds: 86400
 
-      max_parallel_topic_samples: 10
-
       # Discovery configuration
-      discovery_mode: "hybrid"  # runtime_only, manifest_only, or hybrid
-      manifest_path: ""  # Will be set via launch argument
-      manifest_strict_validation: true
-
       discovery:
+        mode: "hybrid"  # runtime_only, manifest_only, or hybrid
+        manifest_path: ""  # Will be set via launch argument
+        manifest_strict_validation: true
         runtime:
           create_synthetic_components: false  # Manifest defines components
 
diff --git a/demos/turtlebot3_integration/config/medkit_params_debounce.yaml b/demos/turtlebot3_integration/config/medkit_params_debounce.yaml
index d931df3..d75eab6 100644
--- a/demos/turtlebot3_integration/config/medkit_params_debounce.yaml
+++ b/demos/turtlebot3_integration/config/medkit_params_debounce.yaml
@@ -22,14 +22,11 @@ diagnostics:
         allow_credentials: false
         max_age_seconds: 86400
 
-      max_parallel_topic_samples: 10
-
       # Discovery configuration
-      discovery_mode: "hybrid"  # runtime_only, manifest_only, or hybrid
-      manifest_path: ""  # Will be set via launch argument
-      manifest_strict_validation: true
-
       discovery:
+        mode: "hybrid"  # runtime_only, manifest_only, or hybrid
+        manifest_path: ""  # Will be set via launch argument
+        manifest_strict_validation: true
         runtime:
           create_synthetic_components: false  # Manifest defines components
 
diff --git a/demos/turtlebot3_integration/docker-compose.yml b/demos/turtlebot3_integration/docker-compose.yml
index e5817f4..c64e6c2 100644
--- a/demos/turtlebot3_integration/docker-compose.yml
+++ b/demos/turtlebot3_integration/docker-compose.yml
@@ -63,6 +63,25 @@ services:
                export TURTLEBOT3_MODEL=burger &&
                ros2 launch turtlebot3_medkit_demo demo.launch.py headless:=$${HEADLESS}"
 
+  # For CI testing - headless Gazebo, tests run externally
+  turtlebot3-demo-ci:
+    profiles: ["ci"]
+    build:
+      context: .
+      dockerfile: Dockerfile
+    container_name: turtlebot3_medkit_demo_ci
+    environment:
+      - TURTLEBOT3_MODEL=burger
+      - ROS_DOMAIN_ID=30
+    ports:
+      - "8080:8080"
+    command: >
+      bash -c "mkdir -p /var/lib/ros2_medkit/rosbags &&
+               source /opt/ros/jazzy/setup.bash &&
+               source /root/demo_ws/install/setup.bash &&
+               export TURTLEBOT3_MODEL=burger &&
+               ros2 launch turtlebot3_medkit_demo demo.launch.py headless:=true"
+
   sovd-web-ui:
     image: ghcr.io/selfpatch/sovd_web_ui:latest
     container_name: sovd_web_ui
diff --git a/demos/turtlebot3_integration/launch/demo.launch.py b/demos/turtlebot3_integration/launch/demo.launch.py
index 1355f4f..7d32d00 100644
--- a/demos/turtlebot3_integration/launch/demo.launch.py
+++ b/demos/turtlebot3_integration/launch/demo.launch.py
@@ -165,7 +165,7 @@ def generate_launch_description():
                     medkit_params_file,
                     {
                         "use_sim_time": use_sim_time,
-                        "manifest_path": manifest_file,
+                        "discovery.manifest_path": manifest_file,
                     },
                 ],
             ),
diff --git a/tests/smoke_lib.sh b/tests/smoke_lib.sh
new file mode 100755
index 0000000..ed7270f
--- /dev/null
+++ b/tests/smoke_lib.sh
@@ -0,0 +1,165 @@
+#!/bin/bash
+# Shared test infrastructure for smoke tests
+# Source this file from individual smoke test scripts
+#
+# Required: set GATEWAY_URL before sourcing, or pass as $1 to the test script
+# Required: set API_BASE="${GATEWAY_URL}/api/v1"
+
+set -euo pipefail
+
+# --- Dependency preflight ---
+
+for cmd in curl jq; do
+    if ! command -v "$cmd" > /dev/null 2>&1; then
+        echo "Error: required command '$cmd' not found in PATH" >&2
+        exit 1
+    fi
+done
+
+# --- Test infrastructure ---
+
+PASS_COUNT=0
+FAIL_COUNT=0
+FAILED_TESTS=""
+
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+BLUE='\033[0;34m'
+NC='\033[0m'
+
+pass() {
+    PASS_COUNT=$((PASS_COUNT + 1))
+    echo -e "  ${GREEN}PASS${NC} $1"
+}
+
+fail() {
+    FAIL_COUNT=$((FAIL_COUNT + 1))
+    FAILED_TESTS="${FAILED_TESTS}\\n  - $1"
+    echo -e "  ${RED}FAIL${NC} $1"
+    if [ -n "${2:-}" ]; then
+        echo -e "       ${RED}$2${NC}"
+    fi
+}
+
+section() {
+    echo -e "\n${BLUE}--- $1 ---${NC}"
+}
+
+# Helper: GET endpoint, store response in $RESPONSE, check HTTP status
+# Usage: api_get "/health" 200
+api_get() {
+    local endpoint="$1"
+    local expected_status="${2:-200}"
+    local http_code
+    RESPONSE=$(curl -s -w "\n%{http_code}" "${API_BASE}${endpoint}" 2>/dev/null) || true
+    http_code=$(echo "$RESPONSE" | tail -1)
+    RESPONSE=$(echo "$RESPONSE" | sed '$d')
+    if [ "$http_code" != "$expected_status" ]; then
+        return 1
+    fi
+    return 0
+}
+
+# Helper: check that JSON array at .items contains an element with .id == value
+# Usage: echo "$JSON" | items_contain_id "lidar-sim"
+items_contain_id() {
+    local id="$1"
+    jq -e --arg id "$id" '.items[] | select(.id == $id)' > /dev/null 2>&1
+}
+
+# Helper: poll endpoint until jq filter matches (max wait seconds)
+# Usage: poll_until "/faults" '.items[] | select(.fault_code == "LIDAR_SIM")' 15
+poll_until() {
+    local endpoint="$1"
+    local jq_filter="$2"
+    local max_wait="${3:-15}"
+    local elapsed=0
+
+    while [ $elapsed -lt "$max_wait" ]; do
+        if api_get "$endpoint" && echo "$RESPONSE" | jq -e "$jq_filter" > /dev/null 2>&1; then
+            return 0
+        fi
+        sleep 1
+        elapsed=$((elapsed + 1))
+    done
+    return 1
+}
+
+# Wait for gateway to become healthy
+# Usage: wait_for_gateway [max_wait_seconds]
+wait_for_gateway() {
+    local max_wait="${1:-90}"
+    section "Waiting for gateway"
+    echo -e "  Polling ${API_BASE}/health (max ${max_wait}s)..."
+    local elapsed=0
+    while [ $elapsed -lt "$max_wait" ]; do
+        if curl -sf "${API_BASE}/health" > /dev/null 2>&1; then
+            echo -e "  ${GREEN}Gateway ready after ${elapsed}s${NC}"
+            return 0
+        fi
+        sleep 2
+        elapsed=$((elapsed + 2))
+    done
+    echo -e "  ${RED}Gateway failed to start within ${max_wait}s${NC}"
+    exit 1
+}
+
+# Wait for runtime node linking (manifest entities need runtime refresh to get data)
+# Usage: wait_for_runtime_linking "/apps/lidar-sim/data" [max_wait_seconds]
+wait_for_runtime_linking() {
+    local data_endpoint="$1"
+    local max_wait="${2:-60}"
+    echo -e "  Waiting for runtime node linking (max ${max_wait}s)..."
+    local elapsed=0
+    while [ $elapsed -lt "$max_wait" ]; do
+        if api_get "$data_endpoint" && echo "$RESPONSE" | jq -e '.items | length > 0' > /dev/null 2>&1; then
+            echo -e "  ${GREEN}Runtime linking complete after ${elapsed}s${NC}"
+            return 0
+        fi
+        sleep 2
+        elapsed=$((elapsed + 2))
+    done
+    echo -e "  ${RED}Runtime node linking did not complete within ${max_wait}s${NC}"
+    exit 1
+}
+
+# Test entity discovery for a given entity type
+# Usage: test_entity_discovery "areas" "sensors processing diagnostics"
+test_entity_discovery() {
+    local entity_type="$1"
+    shift
+    local entity_ids=("$@")
+    local label
+    label="${entity_type^}"
+
+    section "Entity Discovery - ${label}"
+
+    if api_get "/${entity_type}"; then
+        for entity_id in "${entity_ids[@]}"; do
+            if echo "$RESPONSE" | items_contain_id "$entity_id"; then
+                pass "${entity_type} contains '${entity_id}'"
+            else
+                fail "${entity_type} contains '${entity_id}'" "not found in response"
+            fi
+        done
+    else
+        fail "GET /${entity_type} returns 200" "unexpected status code"
+    fi
+}
+
+# Print test summary and exit with appropriate code
+print_summary() {
+    echo ""
+    echo -e "${BLUE}================================${NC}"
+    local total=$((PASS_COUNT + FAIL_COUNT))
+    echo -e "  Results: ${GREEN}${PASS_COUNT} passed${NC}, ${RED}${FAIL_COUNT} failed${NC} (${total} total)"
+
+    if [ "$FAIL_COUNT" -gt 0 ]; then
+        echo -e "\n  ${RED}Failed tests:${FAILED_TESTS}${NC}"
+        echo -e "${BLUE}================================${NC}"
+        exit 1
+    fi
+
+    echo -e "${BLUE}================================${NC}"
+    echo -e "\n${GREEN}All smoke tests passed!${NC}"
+}
diff --git a/tests/smoke_test.sh b/tests/smoke_test.sh
new file mode 100755
index 0000000..e943579
--- /dev/null
+++ b/tests/smoke_test.sh
@@ -0,0 +1,130 @@
+#!/bin/bash
+# Smoke tests for sensor_diagnostics demo
+# Runs from the host against the containerized gateway on localhost:8080
+#
+# Usage: ./tests/smoke_test.sh [GATEWAY_URL]
+# Default GATEWAY_URL: http://localhost:8080
+
+GATEWAY_URL="${1:-http://localhost:8080}"
+API_BASE="${GATEWAY_URL}/api/v1"
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck source=tests/smoke_lib.sh
+source "${SCRIPT_DIR}/smoke_lib.sh"
+
+# --- Wait for gateway startup ---
+
+wait_for_gateway 90
+
+# Wait for entity discovery + runtime linking (nodes need to be linked to manifest apps)
+# In hybrid mode, manifest entities appear instantly but data/configurations require
+# the runtime refresh cycle to link ROS 2 nodes to manifest apps.
+wait_for_runtime_linking "/apps/lidar-sim/data" 60
+
+# --- Tests ---
+
+section "Health"
+
+if api_get "/health"; then
+    pass "GET /health returns 200"
+else
+    fail "GET /health returns 200" "unexpected status code"
+fi
+
+test_entity_discovery "areas" sensors processing diagnostics
+test_entity_discovery "components" lidar-unit imu-unit gps-unit camera-unit
+test_entity_discovery "apps" lidar-sim imu-sim gps-sim camera-sim anomaly-detector
+
+section "Data Access"
+
+if api_get "/apps/lidar-sim/data"; then
+    if echo "$RESPONSE" | jq -e '.items | length > 0' > /dev/null 2>&1; then
+        pass "GET /apps/lidar-sim/data returns non-empty items"
+    else
+        fail "GET /apps/lidar-sim/data returns non-empty items" "items is empty"
+    fi
+else
+    fail "GET /apps/lidar-sim/data returns 200" "unexpected status code"
+fi
+
+section "Configurations"
+
+if api_get "/apps/lidar-sim/configurations"; then
+    if echo "$RESPONSE" | jq -e '.items | length > 0' > /dev/null 2>&1; then
+        pass "GET /apps/lidar-sim/configurations returns non-empty items"
+    else
+        fail "GET /apps/lidar-sim/configurations returns non-empty items" "items is empty"
+    fi
+    if echo "$RESPONSE" | jq -e '.items[] | select(.name == "noise_stddev")' > /dev/null 2>&1; then
+        pass "configurations contains 'noise_stddev' parameter"
+    else
+        fail "configurations contains 'noise_stddev' parameter" "not found in response"
+    fi
+else
+    fail "GET /apps/lidar-sim/configurations returns 200" "unexpected status code"
+fi
+
+section "Fault Injection"
+
+# Inject noise fault via configuration API
+echo "  Injecting noise fault (noise_stddev=0.5)..."
+INJECT_STATUS=$(curl -s -o /dev/null -w "%{http_code}" \
+    -X PUT "${API_BASE}/apps/lidar-sim/configurations/noise_stddev" \
+    -H "Content-Type: application/json" \
+    -d '{"value": 0.5}') || true
+
+if [ -z "$INJECT_STATUS" ]; then
+    fail "PUT noise_stddev=0.5 returns 200" "request failed (no HTTP status received)"
+elif [ "$INJECT_STATUS" = "200" ]; then
+    pass "PUT noise_stddev=0.5 returns 200"
+else
+    fail "PUT noise_stddev=0.5 returns 200" "got status $INJECT_STATUS"
+fi
+
+# Wait for fault to appear (pipeline: config change -> sensor detects -> /diagnostics -> bridge -> fault_manager)
+echo "  Waiting for LIDAR_SIM fault to appear (max 30s)..."
+if poll_until "/faults" '.items[] | select(.fault_code == "LIDAR_SIM")' 30; then
+    pass "LIDAR_SIM fault appeared in /faults"
+else
+    fail "LIDAR_SIM fault appeared in /faults" "fault not found after 30s"
+fi
+
+# Check fault detail with environment data
+if api_get "/apps/diagnostic-bridge/faults/LIDAR_SIM"; then
+    pass "GET fault detail returns 200"
+    if echo "$RESPONSE" | jq -e '.environment_data' > /dev/null 2>&1; then
+        pass "fault detail contains environment_data"
+    else
+        fail "fault detail contains environment_data" "field missing from response"
+    fi
+else
+    fail "GET fault detail returns 200" "unexpected status code"
+fi
+
+# Cleanup: restore config + delete fault
+echo "  Cleaning up: restoring config and clearing fault..."
+curl -s -X PUT "${API_BASE}/apps/lidar-sim/configurations/noise_stddev" \
+    -H "Content-Type: application/json" -d '{"value": 0.01}' > /dev/null || true
+
+curl -s -X DELETE "${API_BASE}/apps/diagnostic-bridge/faults/LIDAR_SIM" > /dev/null || true
+
+# Verify fault is cleared (poll to avoid race with fault manager processing the DELETE)
+echo "  Verifying LIDAR_SIM fault cleared (max 5s)..."
+elapsed=0
+cleared=false
+while [ $elapsed -lt 5 ]; do
+    if api_get "/faults" && ! echo "$RESPONSE" | jq -e '.items[] | select(.fault_code == "LIDAR_SIM")' > /dev/null 2>&1; then
+        pass "LIDAR_SIM fault cleared after cleanup"
+        cleared=true
+        break
+    fi
+    sleep 1
+    elapsed=$((elapsed + 1))
+done
+if [ "$cleared" = false ]; then
+    fail "LIDAR_SIM fault cleared after cleanup" "fault still present after 5s"
+fi
+
+# --- Summary ---
+
+print_summary
diff --git a/tests/smoke_test_moveit.sh b/tests/smoke_test_moveit.sh
new file mode 100755
index 0000000..a4a6180
--- /dev/null
+++ b/tests/smoke_test_moveit.sh
@@ -0,0 +1,41 @@
+#!/bin/bash
+# Smoke tests for moveit_pick_place demo
+# Runs from the host against the containerized gateway on localhost:8080
+#
+# Tests: health, entity discovery (areas, components, apps from manifest)
+# Uses demo.launch.py (fake hardware, no Gazebo) for CI stability
+#
+# Usage: ./tests/smoke_test_moveit.sh [GATEWAY_URL]
+# Default GATEWAY_URL: http://localhost:8080
+
+GATEWAY_URL="${1:-http://localhost:8080}"
+API_BASE="${GATEWAY_URL}/api/v1"
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck source=tests/smoke_lib.sh
+source "${SCRIPT_DIR}/smoke_lib.sh"
+
+# --- Wait for gateway startup ---
+
+wait_for_gateway 120
+
+# Wait for runtime node linking
+wait_for_runtime_linking "/apps/medkit-gateway/data" 90
+
+# --- Tests ---
+
+section "Health"
+
+if api_get "/health"; then
+    pass "GET /health returns 200"
+else
+    fail "GET /health returns 200" "unexpected status code"
+fi
+
+test_entity_discovery "areas" manipulation planning diagnostics bridge
+test_entity_discovery "components" panda-arm panda-gripper moveit-planning pick-place-loop gateway fault-manager diagnostic-bridge
+test_entity_discovery "apps" joint-state-broadcaster panda-arm-controller panda-hand-controller robot-state-publisher move-group pick-place-node medkit-gateway medkit-fault-manager diagnostic-bridge-app manipulation-monitor
+
+# --- Summary ---
+
+print_summary
diff --git a/tests/smoke_test_turtlebot3.sh b/tests/smoke_test_turtlebot3.sh
new file mode 100755
index 0000000..e54a3b4
--- /dev/null
+++ b/tests/smoke_test_turtlebot3.sh
@@ -0,0 +1,42 @@
+#!/bin/bash
+# Smoke tests for turtlebot3_integration demo
+# Runs from the host against the containerized gateway on localhost:8080
+#
+# Tests: health, entity discovery (areas, components, apps from manifest)
+# No fault injection - Gazebo-based demo is too complex for reliable CI fault testing
+#
+# Usage: ./tests/smoke_test_turtlebot3.sh [GATEWAY_URL]
+# Default GATEWAY_URL: http://localhost:8080
+
+GATEWAY_URL="${1:-http://localhost:8080}"
+API_BASE="${GATEWAY_URL}/api/v1"
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck source=tests/smoke_lib.sh
+source "${SCRIPT_DIR}/smoke_lib.sh"
+
+# --- Wait for gateway startup ---
+
+# Turtlebot3 needs Gazebo + Nav2 - allow extra startup time
+wait_for_gateway 120
+
+# Wait for runtime node linking
+wait_for_runtime_linking "/apps/medkit-gateway/data" 90
+
+# --- Tests ---
+
+section "Health"
+
+if api_get "/health"; then
+    pass "GET /health returns 200"
+else
+    fail "GET /health returns 200" "unexpected status code"
+fi
+
+test_entity_discovery "areas" robot navigation diagnostics bridge
+test_entity_discovery "components" turtlebot3-base lidar-sensor nav2-stack gateway fault-manager diagnostic-bridge-unit
+test_entity_discovery "apps" turtlebot3-node robot-state-publisher amcl bt-navigator controller-server planner-server velocity-smoother medkit-gateway medkit-fault-manager diagnostic-bridge anomaly-detector
+
+# --- Summary ---
+
+print_summary