**Drone starts moving after transcation and store file with the coordinates in IPFS. The control script is based on the [GAAS demo script](https://github.com/generalized-intelligence/GAAS)** https://youtu.be/4CwtGAX1OwM
## Requirements

dependencies for control: sudo apt install -y \ python3-pip \ ninja-build \ exiftool \ python-argparse \ python-empy \ python-toml \ python-numpy \ python-yaml \ python-dev \ python-pip \ ninja-build \ protobuf-compiler \ libeigen3-dev \ genromfs pip3 install \ pandas \ jinja2 \ pyserial \ cerberus \ pyulog \ numpy \ toml \ pyquaternion

ROS Melodic + Gazebo [installation tutorial](http://wiki.ros.org/melodic/Installation)

extra packages: sudo apt-get install ros-melodic-gazebo-ros-control ros-melodic-effort-controllers ros-melodic-joint-state-controller sudo apt-get install python-jinja2 sudo apt-get install python-catkin-pkg sudo apt-get install python3-catkin-pkg-modules

IPFS verson 0.4.22 wget https://dist.ipfs.io/go-ipfs/v0.4.22/go-ipfs_v0.4.22_linux-amd64.tar.gz tar -xvzf go-ipfs_v0.4.22_linux-amd64.tar.gz cd go-ipfs sudo bash install.sh ipfs init

ipfshttpclient pip3 install ipfshttpclient

Robonomics node (binary file) (download latest release [here](https://github.com/airalab/robonomics/releases))

## Environment Setup sudo apt-get install ros-melodic-mavros ros-melodic-mavros-extras wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh sudo ./install_geographiclib_datasets.sh cd ~/catkin_ws/src git clone https://github.com/PX4/Firmware.git cd Firmware git checkout v1.9.0 bash ./Tools/setup/ubuntu.sh cd ~/catkin_ws/src git clone https://github.com/generalized-intelligence/GAAS.git cp -r ~/catkin_ws/src/GAAS/simulator/models/* ~/catkin_ws/src/Firmware/Tools/sitl_gazebo/models/ cp -r ~/catkin_ws/src/GAAS/simulator/worlds/* ~/catkin_ws/src/Firmware/Tools/sitl_gazebo/worlds/ cp -r ~/catkin_ws/src/GAAS/simulator/posix-config/* ~/catkin_ws/src/Firmware/posix-configs/SITL/init/ekf2/ Modifying your `.bashrc` file, adding the following lines to the bottom: source ~/catkin_ws/devel/setup.bash source ~/catkin_ws/src/Firmware/Tools/setup_gazebo.bash ~/catkin_ws/src/Firmware/ ~/catkin_ws/src/Firmware/build posix_sitl_default export GAZEBO_MODEL_PATH=:~/catkin_ws/src/simulator/models export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/catkin_ws/src/Firmware export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/catkin_ws/src/Firmware/Tools/sitl_gazebo export GAZEBO_MODEL_PATH=:~/catkin_ws/src/simulator/models:~/catkin_ws/src/GAAS/simulator/models ## Control Package Installation In a new Terminal: cd catkin_ws/src git clone https://github.com/tubleronchik/robonomics_drone_sim.git cd .. catkin build ## Robonomics Network To create a local robonomics network go to the folder with the robonomic binary file and run: ./robonomics --dev --rpc-cors all Add robonomic's path to `config.py` Go to the [Robonomics Parachain portal](https://polkadot.js.org/apps/?rpc=wss%3A%2F%2Fkusama.rpc.robonomics.network%2F#/) and switch to local node. Go to **Accounts** and create **DRONE** and **EMPLOYER** accounts. Save the account names and keys and path to **robonomics** to `~/catkin_ws/src/drone_sim/src/config.py`. Transfer some money into the accounts. ## Running Simulation Run IPFS daemon cd go-ipfs ipfs daemon In another terminal launch the simulation: roslaunch px4 mavros_posix_sitl.launch cd ~/catkin_ws/src/robonomics_drone_sim/src python3 takeoff.py Waiting till "Waiting for payment" To send a transaction run in another window: `echo "ON" | ./robonomics io write launch -r -s ` - where **** and **** should be replaced with the strings from `config.py` accordingly. After data was pushed to IPFS, go to the **Chain State** in [Robonomics Parachain portal](https://polkadot.js.org/apps/?rpc=wss%3A%2F%2Fkusama.rpc.robonomics.network%2F#/). Select **datalog** in query and add DRONE datalog using `+` button. You can find drone's telemetry running `https://gateway.ipfs.io/ipfs/` inserting the hash from above. It's important to remove `db` derictory before next launches using ` rm -rf ~/.local/share/robonomics/chains/dev/db`