The package is responsible for receiving New Liability events (listener node) and playing topics from objective field (executor node).
The launch file also include ipfs_channel node and signer node.
ROS Parameters
~web3_http_provider
Web3 HTTP provider address. The type is string, defaults to http://127.0.0.1:8545
~web3_ws_provider
Web3 WebSocket provider address. The type is string, defaults to ws://127.0.0.1:8546
~ipfs_http_provider
IPFS HTTP provider address. The type is string, defaults to http://127.0.0.1:5001
~ipfs_swarm_connect_addresses
IPFS nodes to connect to. The type is string, defaults to ""
~ipfs_public_providers
A public IPFS node to pin result files. The type is string, defaults to ""
~factory_contract
The name of the liability factory. The type is string, defaults to factory.5.robonomics.eth
~lighthouse_contract
The name of a lighthouse you are working on. The type is string, defaults to airalab.lighthouse.5.robonomics.eth
~enable_executor
Enable or disable executor node. If it's false, no topics from objective would be published. The type is boolean, defaults to true
~master_check_interval
Period (in seconds) to check master for new topic publications. It's necessary for the Recorder, which records all the topics a CPS publishes. The type is double, defaults to 0.1
~recording_topics
List of topics name separated by comma. It allows you to specify which topics would be recorded. The type is string, defaults to ""
~ens_contract
The checksumed address of ENS registry. The type is string, defaults to ""
~keyfile
Path to keyfile. The type is string, defaults to "". Required parameter
~keyfile_password_file
Path to a file with password for the keyfile. The type is string, defaults to "". Required parameter
Subscribed topics
/liability/infochan/eth/signing/demand (robonomics_msgs/Demand)
robonomics_msgs/Demand message to sign and send further to IPFS channel
/liability/infochan/eth/signing/offer (robonomics_msgs/Offer)
robonomics_msgs/Offer message to sign and send further to IPFS channel
/liability/infochan/eth/signing/result (robonomics_msgs/Result)
robonomics_msgs/Result message to sign and send further to IPFS channel
Published topics
/liability/infochan/incoming/demand (robonomics_msgs/Demand)
Contains a robonomics_msgs/Demand message which was read from IPFS channel
/liability/infochan/incoming/offer (robonomics_msgs/Offer)
Contains a robonomics_msgs/Offer message which was read from IPFS channel
/liability/infochan/incoming/result (robonomics_msgs/Result)
Contains a robonomics_msgs/Result message which was read from IPFS channel
/liability/incoming (robonomics_liability/Liability)
Contains all the information about the last created robonomics_liability/Liability
/liability/ready (robonomics_liability/Liability)
Signals when a robonomics_liability/Liabilityis ready for execution
/liability/complete (robonomics_liability/Liability)
Signals when a robonomics_liability/Liability has done its job
/liability/finalized (std_msgs/String)
Signals when a liability has been finalized
Services
/liability/start (robonomics_liability/StartLiability)
The service tells executor to play topics from the objective. It's required to pass a liability address (robonomics_liability/StartLiability), which you can get from /liability/ready topic
/liability/finish (robonomics_liability/FinishLiability)
CPS should call the service after performing the task. The input is robonomics_liability/FinishLiability
/liability/restart (robonomics_liability/StartLiability)
The service allows to restart a liability after the system shutdown. The input is robonomics_liability/StartLiability
/liability/resume (robonomics_liability/StartLiability)
The service allows to resume a liability from the last timestamp available in the persistence store. The input is robonomics_liability/StartLiability
/liability/read (robonomics_liability/ReadLiability)
The service returns all the data about a liability by its address. The input is robonomics_liability/ReadLiability