#Control Kuka manipulator with robonomics.

Video with an example of work can be found here:

#Requirements

• ROS melodic, Gazebo (installation instraction here)
• 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 and install)

tar -xvzf go-ipfs_v0.4.22_linux-386.tar.gz
cd go-ipfs/
sudo bash install.sh
ipfs init

• ipfshttpclient

pip install ipfshttpclient

• Robonomics node (binary file) (download latest release here)
• 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

roslaunch manipulator_gazebo manipulator_empty_world.launch

In a new window

rosrun manipulator_gazebo move_arm_server

#Running robonomics

Go to the folder with robonomics file ad create a local robonomics network:

./robonomics --dev --rpc-cors all

Important! Before next launches it is necessary to remove a directory db with

rm -rf /home/$USER/.local/share/robonomics/chains/dev/db

Go to https://parachain.robonomics.network and switch to local node

Then go to Accounts and create KUKA and WORK accounts. Save account's addresses and keys, you will need them later

#Running ipfs

Run ipfs daemon:

ipfs daemon

#Running control package

In kuka_control package path you need to edit move_arm_client.py.

cd src/
nano move_arm_client.py

Change kuka_address, kuka_key and work_address to you addresses and key, then change robonomics_path to your path to file robonomics.

Now you can run control script:

python move_arm_client.py

Then in a new window send a transaction to make Kuka move:

echo "ON" | ./robonomics io write launch -r <KUKA_ADDRESS> -s <WORK_KEY>

Where <KUKA_ADDRESS> and <WORK_KEY> are address and key from your accounts:

In the window with kuka_control package you will see:

Then go Developer/Chain state on the Robonomics portal, select datalog in query and add KUKA datalog with button '+':

Now you can find Kuka's telemetry using this hash in IPFS Companion: