Merge pull request #8 from Fingerling42/humble

Reworks and small fixes for 3.1.0 version

README.md

@@ -176,7 +176,7 @@ of the subscription owner to the `rws_owner_address` field. Don't forget that yo
 to your subscription.
 
 You may also want to change the directory where the files for IPFS will be stored. To do this, change the 
-parameter `ipfs_dir_path`, otherwise it will use the default directory.  The `ipfs_gateway` parameter allows you 
+parameter `ipfs_dir_path`, otherwise it will use the current directory.  The `ipfs_gateway` parameter allows you 
 to specify the gateway through which IPFS files will be downloaded.
 
 The `pinata_api_key` and `pinata_api_secret_key` parameters are needed to access Pinata API.
@@ -224,43 +224,39 @@ the service (do not forget to insert address):
 controlled using `/cmd_vel` topic, so you need to prepare corresponding messages, that will go as a launch parameter. 
 For convenience, these messages are prepared as JSON-file:
     ```json
-    {
-       "linear":{
-          "x":[
-             1.0,
-             2.0
-          ],
-          "y":[
-             0.0,
-             0.0
-          ],
-          "z":[
-             0.0,
-             0.0
-          ]
-       },
-       "angular":{
-          "x":[
-             0.0,
-             0.0
-          ],
-          "y":[
-             0.0,
-             0.0
-          ],
-          "z":[
-             1.0,
-             2.0
-          ]
-       }
-    }
+   [
+      {
+         "linear": {
+            "x": 5.0,
+            "y": 0.0,
+            "z": 0.0
+         },
+         "angular": {
+            "x": 0.0,
+            "y": 0.0,
+            "z": 1.5
+         }
+      },
+      {
+         "linear": {
+            "x": 2.0,
+            "y": 0.0,
+            "z": 0.0
+         },
+         "angular": {
+            "x": 0.0,
+            "y": 0.0,
+            "z": 2.5
+         }
+      }
+   ]
     ```
     This JSON example will command the turtle to move twice.
 
 7. Save this JSON to IPFS directory of some turtle and run the following:
 
     ```shell
-   ros2 service call /turtlesim1/robonomics/send_launch robonomics_ros2_interfaces/srv/RobonomicsROS2SendLaunch {"param_file_name: 'test_name.json', target_address: 'TURTLE2_ADDRESS'"}
+   ros2 service call /turtlesim1/robonomics/send_launch robonomics_ros2_interfaces/srv/RobonomicsROS2SendLaunch {"param: 'test_name.json', target_address: 'TURTLE2_ADDRESS'"}
     ```
 
    Watch for the simulation, the turtle should start moving.

config/robonomics_pubsub_params_template.yaml

@@ -10,7 +10,7 @@ crypto_type:              ''
 # An address of Robonomics subscription owner, empty if there is no subscription
 rws_owner_address:        ''
 
-# Full path of your directory, e.g. '/home/user/ipfs_files/', otherwise default path in ROS package will be used
+# Full path of your directory, e.g. '/home/user/ipfs_files/', otherwise current path will be used
 ipfs_dir_path:            ''
 
 # IPFS gateway to download files, e.g. 'https://ipfs.io'

requirements.txt

@@ -2,8 +2,10 @@ IPFS-Toolkit>=0.5.23
 PyYAML>=6.0.1
 robonomics-interface>=1.6.2
 substrate-interface>=1.7.8
+websocket-client>=1.5.2
 typing_extensions>=4.9.0
 requests>=2.31.0
 urllib3>=1.26.18
 scalecodec>=1.2.8
-pinatapy-vourhey>=0.2.0
+pinatapy-vourhey>=0.2.0
+multiformats>=0.3.1.post4

robonomics_ros2_interfaces/msg/RobonomicsROS2ReceivedLaunch.msg

@@ -1,2 +1,2 @@
 string  launch_sender_address   # Address of account that sent launch command
-string  param_file_name         # Name of file with launch parameter
+string  param                   # String with param or name of file with parameters

robonomics_ros2_interfaces/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>robonomics_ros2_interfaces</name>
-  <version>3.0.0</version>
+  <version>3.1.0</version>
   <description>Description of all message/services types for Robonomics wrapper for ROS 2</description>
   <maintainer email="[email protected]">Ivan Berman</maintainer>
   <license>Apache-2.0</license>
@@ -20,7 +20,7 @@
   <!-- Dependency group of which the package is a member -->
   <member_of_group>rosidl_interface_packages</member_of_group>
 
-
+  <!-- Dependencies only for test -->
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

robonomics_ros2_interfaces/srv/RobonomicsROS2SendDatalog.srv

@@ -1,4 +1,5 @@
-string      datalog_file_name               # File name that need to be uploaded to IPFS
-string[]    encrypt_recipient_addresses []  # Addresses for file encryption, if empty, encryption will not be performed
+string      datalog_content                     # Just string or file name that need to be uploaded to IPFS
+string[]    encrypt_recipient_addresses []      # Addresses for file encryption, if empty, encryption will not be performed
+bool        is_file                     True    # Is a datalog a file that needs to be uploaded to IPFS?
 ---
-string      datalog_hash                    # Hash of the datalog transaction
+string      datalog_hash                        # Hash of the datalog transaction

robonomics_ros2_interfaces/srv/RobonomicsROS2SendLaunch.srv

@@ -1,5 +1,6 @@
-string  param_file_name         # Name of file that contains parameter
+string  param                   # Just param string or file name with parameters that need to be uploaded to IPFS
 string  target_address          # Address to be triggered with launch
+bool    is_file         True    # Is a launch param a file that needs to be uploaded to IPFS (default is True)?
 bool    encrypt_status  True    # Check whether the parameter file needs to be encrypted with the target address, default is True
 ---
 string  launch_hash             # Hash of the launch transaction

robonomics_ros2_pubsub/package.xml

@@ -2,15 +2,17 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>robonomics_ros2_pubsub</name>
-  <version>3.0.0</version>
+  <version>3.1.0</version>
   <description>Package for using Robonomics functions from ROS 2</description>
   <maintainer email="[email protected]">Ivan Berman</maintainer>
   <license>Apache-2.0</license>
 
+  <!-- Dependencies that are needed at execution-time (in Python only them are relevant)  -->
   <exec_depend>rclpy</exec_depend>
+  <exec_depend>robonomics_ros2_interfaces</exec_depend>
+  <exec_depend>python3-yaml</exec_depend>
 
-  <depend>robonomics_ros2_interfaces</depend>
-
+  <!-- Dependencies only for test -->
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>