/Robot-as-a-service-using-Robonomics

The Kuka manipulator performs tasks based on the transaction performed on the robonomics platform

Primary LanguageC++GNU General Public License v3.0GPL-3.0

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.Screenshot from 2022-06-26 22-32-37

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

Screenshot from 2022-06-26 22-36-52

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

Screenshot from 2022-06-26 22-38-43

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

Screenshot from 2022-06-26 22-46-23

Final Result:

robotics_project.mp4