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Merge pull request #8 from Fingerling42/humble
Reworks and small fixes for 3.1.0 version
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‎README.md

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@@ -176,7 +176,7 @@ of the subscription owner to the `rws_owner_address` field. Don't forget that yo
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to your subscription.
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You may also want to change the directory where the files for IPFS will be stored. To do this, change the
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parameter `ipfs_dir_path`, otherwise it will use the default directory. The `ipfs_gateway` parameter allows you
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parameter `ipfs_dir_path`, otherwise it will use the current directory. The `ipfs_gateway` parameter allows you
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to specify the gateway through which IPFS files will be downloaded.
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The `pinata_api_key` and `pinata_api_secret_key` parameters are needed to access Pinata API.
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controlled using `/cmd_vel` topic, so you need to prepare corresponding messages, that will go as a launch parameter.
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For convenience, these messages are prepared as JSON-file:
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```json
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{
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"linear":{
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"x":[
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1.0,
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2.0
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],
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"y":[
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0.0,
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0.0
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],
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"z":[
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0.0,
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0.0
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]
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},
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"angular":{
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"x":[
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0.0,
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0.0
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],
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"y":[
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0.0,
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0.0
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],
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"z":[
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1.0,
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2.0
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]
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}
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}
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[
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{
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"linear": {
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"x": 5.0,
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"y": 0.0,
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"z": 0.0
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},
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"angular": {
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"x": 0.0,
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"y": 0.0,
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"z": 1.5
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}
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},
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{
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"linear": {
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"x": 2.0,
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"y": 0.0,
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"z": 0.0
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},
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"angular": {
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"x": 0.0,
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"y": 0.0,
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"z": 2.5
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}
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}
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]
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```
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This JSON example will command the turtle to move twice.
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7. Save this JSON to IPFS directory of some turtle and run the following:
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```shell
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ros2 service call /turtlesim1/robonomics/send_launch robonomics_ros2_interfaces/srv/RobonomicsROS2SendLaunch {"param_file_name: 'test_name.json', target_address: 'TURTLE2_ADDRESS'"}
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ros2 service call /turtlesim1/robonomics/send_launch robonomics_ros2_interfaces/srv/RobonomicsROS2SendLaunch {"param: 'test_name.json', target_address: 'TURTLE2_ADDRESS'"}
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```
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Watch for the simulation, the turtle should start moving.

‎config/robonomics_pubsub_params_template.yaml

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# An address of Robonomics subscription owner, empty if there is no subscription
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rws_owner_address: ''
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# Full path of your directory, e.g. '/home/user/ipfs_files/', otherwise default path in ROS package will be used
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# Full path of your directory, e.g. '/home/user/ipfs_files/', otherwise current path will be used
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ipfs_dir_path: ''
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# IPFS gateway to download files, e.g. 'https://ipfs.io'

‎docs/imgs/basic_robonomics_handler_class_diagram.png

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‎requirements.txt

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PyYAML>=6.0.1
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robonomics-interface>=1.6.2
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substrate-interface>=1.7.8
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websocket-client>=1.5.2
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typing_extensions>=4.9.0
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requests>=2.31.0
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urllib3>=1.26.18
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scalecodec>=1.2.8
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pinatapy-vourhey>=0.2.0
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pinatapy-vourhey>=0.2.0
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multiformats>=0.3.1.post4

‎robonomics_ros2_interfaces/msg/RobonomicsROS2ReceivedLaunch.msg

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string launch_sender_address # Address of account that sent launch command
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string param_file_name # Name of file with launch parameter
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string param # String with param or name of file with parameters

‎robonomics_ros2_interfaces/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>robonomics_ros2_interfaces</name>
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<version>3.0.0</version>
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<version>3.1.0</version>
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<description>Description of all message/services types for Robonomics wrapper for ROS 2</description>
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<maintainer email="fingerling42@proton.me">Ivan Berman</maintainer>
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<license>Apache-2.0</license>
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<!-- Dependency group of which the package is a member -->
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<member_of_group>rosidl_interface_packages</member_of_group>
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<!-- Dependencies only for test -->
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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‎robonomics_ros2_interfaces/srv/RobonomicsROS2SendDatalog.srv

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string datalog_file_name # File name that need to be uploaded to IPFS
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string[] encrypt_recipient_addresses [] # Addresses for file encryption, if empty, encryption will not be performed
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string datalog_content # Just string or file name that need to be uploaded to IPFS
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string[] encrypt_recipient_addresses [] # Addresses for file encryption, if empty, encryption will not be performed
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bool is_file True # Is a datalog a file that needs to be uploaded to IPFS?
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---
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string datalog_hash # Hash of the datalog transaction
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string datalog_hash # Hash of the datalog transaction

‎robonomics_ros2_interfaces/srv/RobonomicsROS2SendLaunch.srv

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string param_file_name # Name of file that contains parameter
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string param # Just param string or file name with parameters that need to be uploaded to IPFS
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string target_address # Address to be triggered with launch
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bool is_file True # Is a launch param a file that needs to be uploaded to IPFS (default is True)?
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bool encrypt_status True # Check whether the parameter file needs to be encrypted with the target address, default is True
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---
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string launch_hash # Hash of the launch transaction

‎robonomics_ros2_pubsub/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>robonomics_ros2_pubsub</name>
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<version>3.0.0</version>
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<version>3.1.0</version>
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<description>Package for using Robonomics functions from ROS 2</description>
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<maintainer email="fingerling42@proton.me">Ivan Berman</maintainer>
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<license>Apache-2.0</license>
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<!-- Dependencies that are needed at execution-time (in Python only them are relevant) -->
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<exec_depend>rclpy</exec_depend>
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<exec_depend>robonomics_ros2_interfaces</exec_depend>
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<exec_depend>python3-yaml</exec_depend>
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<depend>robonomics_ros2_interfaces</depend>
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<!-- Dependencies only for test -->
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>

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