robossembler/runtime

History

Bill Finger 7175f38b06 Add ROS2 Jazzy Skills, Repositories, and Nix Flake Setup - Add Nix flake configuration (`flake.nix`, overlays, `package.nix`) for seamless package builds, dependency management, and development shell setup.		2025-02-01 16:45:53 +03:00
..
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.nix	Add ROS2 Jazzy Skills, Repositories, and Nix Flake Setup	2025-02-01 16:45:53 +03:00
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