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Igor Brylyov a87fb8a7ec Add minimal pick-and-place case with world embedded
2023-03-31 20:24:56 +00:00
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resource Added package for robonomics interoperability 2022-04-04 18:20:06 +00:00
robonomics add robonomics loader script 2022-04-06 17:53:35 +08:00
test Added package for robonomics interoperability 2022-04-04 18:20:06 +00:00
COLCON_IGNORE Add minimal pick-and-place case with world embedded 2023-03-31 20:24:56 +00:00
package.xml Migrate to Gazebo Fortress 2023-02-03 07:04:12 +00:00
README.md Added package for robonomics interoperability 2022-04-04 18:20:06 +00:00
setup.cfg Added package for robonomics interoperability 2022-04-04 18:20:06 +00:00
setup.py Added package for robonomics interoperability 2022-04-04 18:20:06 +00:00

README.md

Robonomics ROS2 package

On alpha developement stage! Don't use in production!

Package for interoperability between Robonomics Blockchain and ROS2 Planning System.

Workflow

  • Subscribe for events in local robonomics node
  • When event recieved convert H256 hash to IPFS hash and download it's content from IPFS network
  • Validate domain and problem PDDL specifications through GetPlan Plansys2 service. If Succeed add problem to Plansys2 and get generated plan
  • Execute plan with Plansys2 Executor

Supported robonomics events

  • NewLaunch

Requrements

  • go-ipfs 0.7.0
  • robonomics blockchain node
  • Python packages
    • robonomicsinterface 0.10.1
    • ipfshttpclient 0.7.0
  • ROS2 packages
    • plansys2

Future plans

  • Write Datalog on successful plan execution
  • Write Datalog on every completed action in plan
  • Support other Robonomics Extrinsics:
    • Digital Twin
    • Liability
    • RWS