Video with an example of work can be found here: https://youtu.be/z55HepXbHr8
***
## Requirements

ROS melodic, Gazebo (installation instraction [here](http://wiki.ros.org/melodic/Installation/Ubuntu))

Some extra packages sudo apt-get install ros-melodic-gazebo-ros-control ros-melodic-effort-controllers ros-melodic-joint-state-controller

IPFS 0.4.22 (download from [here](https://www.npackd.org/p/ipfs/0.4.22) and install) tar -xvzf go-ipfs_v0.4.22_linux-386.tar.gz cd go-ipfs/ sudo bash install.sh ipfs init

pip3 sudo apt-get install python3-pip

ipfshttpclient pip3 install ipfshttpclient

substrate-interface pip3 install substrate-interface

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

IPFS browser extension (not necessary)

***
## Installation Install Kuka manipulator and control packages cd catkin_wc/src/ git clone https://github.com/orsalmon/kuka_manipulator_gazebo git clone https://github.com/LoSk-p/kuka_controller cd .. catkin_make ***
## Running gazebo model source ~/catkin_ws/devel/setup.bash roslaunch manipulator_gazebo manipulator_empty_world.launch In a new window source ~/catkin_ws/devel/setup.bash rosrun manipulator_gazebo move_arm_server ***
## Running robonomics Go to the folder with robonomics file ad create a local robonomics network: ./robonomics --dev --tmp Go to [Robonomics Parachain portal](https://polkadot.js.org/apps/?rpc=wss%3A%2F%2Fkusama.rpc.robonomics.network%2F#/) and switch to local node Then go to Accounts and create `KUKA` account. Save account's mnemonic key, you will need it later. Send some units to the new account from one of default accounts. ***
## Running ipfs Run ipfs daemon: ipfs daemon ***
## Running control package In config directory in kuka_control package you need to create config file with this lines, where `` is saved mnemonic seed: { "kuka_mnemonic": "[your_mnemonic]", "node": "ws://127.0.0.1:9944" } Now you can run control script: source ~/catkin_ws/devel/setup.bash rosrun kuka_controller move_arm_client.py ## Sending transaction In [Robonomics Parachain portal](https://polkadot.js.org/apps/?rpc=wss%3A%2F%2Fkusama.rpc.robonomics.network%2F#/) go to `Developer/Extrinsics`, change `extrinsic` to `launch`. Chose your `KUKA` account in `robot` and change `param` to `Yes`. The press `Submit Transaction` In the window with kuka_control package you will see: Then go `Developer/Chain State` on the Robonomics portal, select `datalog` and `datalogItem((AccountId,u64)): RingBufferItem` in query and add `KUKA` datalog with button '+': Now you can find robot's telemetry in IPFS via this link with your hash `https://gateway.ipfs.io/ipfs/`. ## Troubleshooting If `catkin_make` doesn't work with the message that it can't find MoveArm.h, try to remove last four lines in CMakeLists.txt in kuka_manipulator_gazebo package: include_directories(include ${catkin_INCLUDE_DIRS}) add_executable(move_arm_server src/move_arm_server.cpp) target_link_libraries(move_arm_server ${catkin_LIBRARIES}) add_dependencies(move_arm_server beginner_tutorials_gencpp) Do `catkin_make` without these lines, then returm them and do `catkin_make` again.