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Component Details

Detailed breakdown of RoboVM system components.

Robot Components​

ROS2 Packages​

robot_agent​

Main robot control node that:

  • Publishes telemetry (/robot/status)
  • Listens to commands (/robot/cmd)
  • Sends periodic heartbeat
  • Manages task execution

task_listener​

Blockchain integration node:

  • Monitors smart contract events
  • Filters relevant tasks
  • Calls acceptTask() via web3.py
  • Handles task lifecycle

Navigation and path planning:

  • Waypoint following
  • Obstacle avoidance
  • Map integration
  • Goal-based navigation

File Structure​

robot/robot_agent/
 ├─ package.xml
 ├─ setup.py
 └─ robot_agent/
     ├─ node.py        # Status + task execution
     ├─ web3_client.py # Transactions, events
     └─ ipfs_client.py # Add/get CID

Blockchain Components​

Smart Contracts​

RoboToken.sol​

BEP-20 token contract:

  • Total supply: 1,000,000,000 RVM
  • Decimals: 18
  • Transfer, approval, minting functions
  • Standard BEP-20 interface

RoboTask.sol​

Task management contract:

  • createTask(description, reward) - Create new mission
  • acceptTask(taskId) - Robot accepts task
  • placeBid(taskId, price, eta) - Submit bid
  • submitResult(taskId, resultCid) - Upload result
  • finalize(taskId) - Complete and pay

Reputation.sol​

Reputation and staking:

  • Track robot performance
  • Staking requirements
  • Reputation scoring
  • Slashing for fraud

Contract Interactions​

interface IRoboTask {
  struct Task {
    string desc;
    uint256 reward;
    address creator;
    address assigned;
    bool completed;
    string resultCid;
  }
  
  function createTask(string calldata desc, uint256 reward) 
    external returns (uint256);
  function acceptTask(uint256 id) external;
  function submitResult(uint256 id, string calldata resultCid) external;
  function finalize(uint256 id) external;
}

Infrastructure Components​

Virtual Machine Setup​

Each robot runs in a containerized environment:

# docker-compose.yml
services:
  ros:
    image: ros:humble-ros-core
    volumes:
      - ../robot:/work
    network_mode: host
    
  ipfs:
    image: ipfs/kubo:latest
    ports:
      - "4001:4001"
      - "5001:5001"
      - "8080:8080"

Components per VM​

  • Ubuntu 22.04 - Base OS
  • ROS2 Humble - Robot framework
  • Python 3.10 - Application code
  • web3.py - Blockchain client
  • IPFS Node - Decentralized storage
  • Docker - Containerization

Monitoring Components​

Dashboard (React + ethers.js)​

  • Real-time robot status
  • Task queue visualization
  • Transaction history
  • Network statistics
  • Token balance tracker

Logging & Metrics​

  • TimescaleDB/InfluxDB - Time-series data
  • Grafana - Visualization
  • ROS2 Logs - Robot execution logs
  • Blockchain Events - On-chain activity

Security Components​

Key Management​

  • Docker Secrets - Private key storage
  • Ansible Vault - Encrypted configuration
  • Hardware Security Modules (optional)

Validation​

  • ECDSA Signatures - Result verification
  • IPFS Hash Verification - Data integrity
  • Reentrancy Guards - Smart contract protection

Integration Points​

ROS2 ↔ Blockchain​

from web3 import Web3
w3 = Web3(Web3.HTTPProvider(os.getenv("RPC_URL")))
acct = w3.eth.account.from_key(os.getenv("PK"))
robo_task = w3.eth.contract(address=ROBOTASK_ADDR, abi=ROBOTASK_ABI)

def accept_task(task_id):
    tx = robo_task.functions.acceptTask(task_id).build_transaction({
        "from": acct.address,
        "nonce": w3.eth.get_transaction_count(acct.address)
    })
    signed = acct.sign_transaction(tx)
    w3.eth.send_raw_transaction(signed.rawTransaction)

Blockchain ↔ IPFS​

from ipfshttpclient import connect

def upload_result(data):
    client = connect('/ip4/127.0.0.1/tcp/5001')
    result = client.add_json(data)
    return result['Hash']  # CID

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