Merge pull request #4 from Fingerling42/dev-3.0.0

Update main branch to 3.0.0

LICENSE

@@ -186,7 +186,7 @@
       same "printed page" as the copyright notice for easier
       identification within third-party archives.
 
-   Copyright [yyyy] [name of copyright owner]
+   Copyright 2024 Ivan Berman
 
    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.

README.md

@@ -68,11 +68,11 @@ Available features include:
 * **Launch function** — launching a device to execute any command with a specified set of parameters passed as a file.
 * **Datalog function** — publishing any device data in a form of hash to parachain.
 * **Usage of Robonomics subscription** — the ability to send transactions without a fee.
+* **Secure file storage** — to pack and unpack data, [InterPlanetary File System](https://ipfs.tech/) is used, which allows to access 
+files by their unique hash; for convenient usage of IPFS, [Pinata](https://www.pinata.cloud/) support included, which 
+allows to pin IPFS files for fast downloading.
 * **File encryption and decryption** — protection of files with public key encryption.
 
-To pack and unpack data, [InterPlanetary File System](https://ipfs.tech/) is used, which allows to access files 
-by their unique hash.
-
 To learn more about Robonomics, please refer to the official documentation: 
 [wiki.robonomics.network](https://wiki.robonomics.network/).
 
@@ -169,15 +169,17 @@ Pay attention to the `account_seed` and `crypto_type` fields, as they determine
 > **WARNING**: The seed phrase is sensitive information that allows anyone to use your account. Make sure you don't 
 > upload a config file with it to GitHub or anywhere else.
 
+If you want to use a custom Robonomics node or a local one, change the `remote_node_url` parameter.
+
 If you have a Robonomics subscription that allows you to send transactions without fees, please insert the address 
 of the subscription owner to the `rws_owner_address` field. Don't forget that your account must be added 
 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.
+parameter `ipfs_dir_path`, otherwise it will use the default directory.  The `ipfs_gateway` parameter allows you 
+to specify the gateway through which IPFS files will be downloaded.
 
-The fields `crypt_recipient_address` and `crypt_sender_address` are used to specify file encryption and 
-decryption addresses.
+The `pinata_api_key` and `pinata_api_secret_key` parameters are needed to access Pinata API.
 
 <p align="right">(<a href="#readme-top">back to top</a>)</p>
 
@@ -191,10 +193,10 @@ decryption addresses.
     ipfs daemon
     ```
 
-2. Create two configuration files for two instances of Turtlesim and Robonomics pubsub.
+2. Create two configuration files for two pubsub instances, each for a different Turtlesim.
 
 3. Run the ROS 2 launch files for two turtle with different configuration files and namespaces (this is necessary to 
-distinguish between identical nodes for different instances). They will launch all necessary nodes: Turtlesim itself, 
+distinguish between identical nodes). They will launch all necessary nodes: Turtlesim itself, 
 wrapper implementation for Turtlesim and Robonomics pubsub:
 
     ```shell
@@ -296,10 +298,9 @@ the `/robonomics_ros2_robot_handler/launch` directory. This launch file takes tw
 - [x] Add IPFS support
 - [x] Add file encryption
 - [x] Add support for Robonomics subscription
-- [ ] Add support for IPFS pinning service
-- [ ] Add checks for IPFS file availability
+- [x] Add support for IPFS pinning service (Pinata)
+- [x] Add a selection of the IPFS gateway
 - [ ] Add digital twin functionality
-- [ ] Add a selection of the IPFS connection type
 - [ ] Rosbag2 integration?
 
 You can [open issue](https://github.com/Fingerling42/robonomics-ros2/issues) to request a function or ask for bug fix.
@@ -327,14 +328,14 @@ Distributed under the Apache-2.0 License. See `LICENSE.txt` for more information
 <!-- CONTACT -->
 ## Contact
 
-Ivan Berman — [@berman_ivan](https://twitter.com/berman_ivan) — [email protected]
+Ivan Berman — [@berman_ivan](https://twitter.com/berman_ivan) — [email protected]
 
 <p align="right">(<a href="#readme-top">back to top</a>)</p>
 
 <!-- ACKNOWLEDGMENTS -->
 ## Acknowledgments
 
-* [robonomics-interface docs](https://multi-agent-io.github.io/robonomics-interface/index.html)
+* [robonomics-interface docs](https://airalab.github.io/robonomics-interface)
 * [Best-README-Template](https://github.com/othneildrew/Best-README-Template/)
 
 <p align="right">(<a href="#readme-top">back to top</a>)</p>

config/robonomics_pubsub_params_template.yaml

@@ -10,11 +10,14 @@ 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 will be used
+# Full path of your directory, e.g. '/home/user/ipfs_files/', otherwise default path in ROS package will be used
 ipfs_dir_path:            ''
 
-# An address that can open an encrypted file, leave empty to not encrypt IPFS files
-crypt_recipient_address:  ''
+# IPFS gateway to download files, e.g. 'https://ipfs.io'
+ipfs_gateway:             ''
 
-# An address that sends encrypted file that can be decrypted by a robot, leave empty if IPFS file is not encrypt
-crypt_sender_address:     ''
+# API key from Pinata pinning service for IPFS
+pinata_api_key:           ''
+
+# Secret API key from Pinata pinning service for IPFS
+pinata_api_secret_key:    ''

requirements.txt

@@ -2,4 +2,8 @@ IPFS-Toolkit>=0.5.23
 PyYAML>=6.0.1
 robonomics-interface>=1.6.2
 substrate-interface>=1.7.8
-typing_extensions>=4.9.0
+typing_extensions>=4.9.0
+requests>=2.31.0
+urllib3>=1.26.18
+scalecodec>=1.2.8
+pinatapy-vourhey>=0.2.0

robonomics_ros2_interfaces/CMakeLists.txt

@@ -14,6 +14,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/RobonomicsROS2SendDatalog.srv"
   "srv/RobonomicsROS2ReceiveDatalog.srv"
   "srv/RobonomicsROS2SendLaunch.srv"
+  "srv/RobonomicsROS2GetRWSUsers.srv"
   "msg/RobonomicsROS2ReceivedLaunch.msg"
   DEPENDENCIES builtin_interfaces
  )

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>2.0.0</version>
+  <version>3.0.0</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>

robonomics_ros2_interfaces/srv/RobonomicsROS2GetRWSUsers.srv

@@ -0,0 +1,2 @@
+---
+string[]        rws_users_list      # List of RWS users

robonomics_ros2_interfaces/srv/RobonomicsROS2ReceiveDatalog.srv

@@ -1,6 +1,5 @@
 string                      sender_address              # Address from which is needed to receive the datalog
 string                      datalog_file_name   ''      # Name for IPFS file, default will be IPFS hash
-bool                        decrypt_status      False   # Status if IPFS file should be decrypted, default is False
 ---
 builtin_interfaces/Time     timestamp                   # Timestamp of datalog
 string                      datalog_content             # Can be just string or file name, downloaded from IPFS

robonomics_ros2_interfaces/srv/RobonomicsROS2SendDatalog.srv

@@ -1,5 +1,4 @@
-string  datalog_content             # Can be just string or file name, that will be uploaded to IPFS
-bool    ipfs_file_status    True    # Status if datalog is needed to sent as IPFS file, default is True
-bool    encrypt_status      False   # Status if IPFS file should be encrypted, default is False
+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_hash                # Hash of the datalog transaction
+string      datalog_hash                    # Hash of the datalog transaction

robonomics_ros2_interfaces/srv/RobonomicsROS2SendLaunch.srv

@@ -1,4 +1,5 @@
-string  param_file_name             # Name of file that contains parameter
-string  target_address              # Address to be triggered with launch
+string  param_file_name         # Name of file that contains parameter
+string  target_address          # Address to be triggered with launch
+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
+string  launch_hash             # Hash of the launch transaction

robonomics_ros2_pubsub/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_pubsub</name>
-  <version>2.0.0</version>
+  <version>3.0.0</version>
   <description>Package for using Robonomics functions from ROS 2</description>
   <maintainer email="[email protected]">Ivan Berman</maintainer>
   <license>Apache-2.0</license>