Robot-as-a-service-using-Robonomics

REQUIREMENTS:

=>ROS melodic, Gazebo

=>Some extra packages: sudo apt-get install ros-melodic-gazebo-ros-control ros-melodic-effort-controllers ros-melodic-joint-state-controller

=>IPFS 0.4.22

tar -xvzf go-ipfs_v0.4.22_linux-386.tar.gz

cd go-ipfs/

sudo bash install.sh

ipfs init

=>ipfshttpclient

pip3 install ipfshttpclient

=>substrate-interface

pip3 install substrate-interface

=>Robonomics node (binary file):https://github.com/airalab/robonomics/releases

Running the model:

roslaunch manipulator_gazebo manipulator_empty_world.launch

rosrun manipulator_gazebo move_arm_server

./robonomics --dev --tmp

ipfs daemon

rosrun kuka_controller move_arm_client.py

Open robonomics parachain portal: https://polkadot.js.org/apps/?rpc=wss%3A%2F%2Fkusama.rpc.robonomics.network%2F#/explorer

and switch to local node.

Then go to Accounts and create KUKA account. Save account's mnemonic key, you will need it later.

Send some units to the new account from one of default accounts.

In config directory in kuka_control package you need to create config file with this lines, where <your_mnemonic> is saved mnemonic seed:

{

"kuka_mnemonic": "<your_mnemonic>",

"node": "ws://127.0.0.1:9944"

}

In Robonomics Parachain portal go to Developer/Extrinsics, change extrinsic to launch. Chose your KUKA account in robot and change param to Yes. The press Submit Transaction

Final Result:

robotics_project.mp4