SUI Edge - ROS2 Integration

A ROS2 package that provides integration with the Sui blockchain through ROS2 services and event indexing.

Features

• Submit transactions to Sui blockchain
• Query Sui events
• Get object information
• Get network status
• Blockchain event indexing and tracking
• Persistent event cursor storage
• Event publishing via ROS2 topics

Installation

1. Create a ROS2 workspace:

mkdir -p ~/sui_edge_ws/src
cd ~/sui_edge_ws/src

2. Clone this repository:

git clone https://github.com/yourusername/sui_edge.git

3. Set up the Python virtual environment and install dependencies:

cd ~/sui_edge_ws

# Set up virtual environment and install dependencies
source scripts/setup-venv.sh

# Install ROS2 dependencies
rosdep install --from-paths src --ignore-src -r -y

4. Build the workspace:

# Source ROS2
source scripts/ros-source.sh

# Build the workspace (the virtual environment settings will be used automatically)
colcon build

5. Source the workspace:

source install/setup.bash

Development

When working on the project, always ensure you're using the virtual environment:

1. Activate the environment:

cd ~/sui_edge_ws
source setup.local  # This loads the virtual environment settings
source install/setup.bash

2. After making changes, rebuild:

colcon build
source install/setup.bash

Troubleshooting

If you encounter Python-related build issues:

1. Ensure you're using the virtual environment:

which python3  # Should point to your venv
echo $VIRTUAL_ENV  # Should show your venv path

2. If needed, clean and rebuild:

rm -rf build/ install/ log/
source setup.local
colcon build

Usage

1. Source the workspace:

source ~/sui_edge_ws/install/setup.bash

2. Launch the Sui service node:

ros2 launch sui_edge service_launch.py

3. Launch the Sui indexer (in a new terminal):

# First source the workspace
source ~/sui_edge_ws/install/setup.bash

# Launch the indexer with your package ID
ros2 launch sui_indexer indexer.launch.py "package_id:='0xfe09cf0b3d77678b99250572624bf74fe3b12af915c5db95f0ed5d755612eb68'"

# Or with custom parameters
ros2 launch sui_indexer indexer.launch.py \
    "package_id:='0xfe09cf0b3d77678b99250572624bf74fe3b12af915c5db95f0ed5d755612eb68'" \
    "network:='mainnet'" \
    "polling_interval_ms:=2000"

4. Monitor indexed events:

# Monitor blockchain events
ros2 topic echo /sui_events

# Monitor indexer status
ros2 topic echo /indexer_status

Project Structure

sui_edge_ws/
├── src/
│   ├── sui_edge/
│   │   ├── sui_edge/
│   │   │   ├── __init__.py
│   │   │   ├── sui_client.py      # Sui blockchain client
│   │   │   ├── sui_service_node.py # ROS2 service node
│   │   │   ├── message_translator.py
│   │   │   └── config.py
│   │   ├── launch/
│   │   │   └── service_launch.py  # Launch file
│   │   ├── config/
│   │   │   └── config.yaml       # Configuration file
│   │   ├── package.xml
│   │   └── setup.py
│   ├── sui_indexer/              # Blockchain event indexer
│   │   ├── sui_indexer/
│   │   │   ├── __init__.py
│   │   │   ├── indexer_node.py   # Main indexer node
│   │   │   └── scripts/
│   │   │       └── setup_prisma.py # Database setup
│   │   ├── prisma/
│   │   │   └── schema.prisma     # Database schema
│   │   ├── launch/
│   │   │   ├── setup.launch.py   # Database setup launch
│   │   │   └── indexer.launch.py # Main indexer launch
│   │   ├── msg/
│   │   │   ├── SuiEvent.msg     # Event message definition
│   │   │   └── IndexerStatus.msg # Status message definition
│   │   ├── package.xml
│   │   └── setup.py
│   └── sui_edge_msgs/            # Message definitions

Services

• /sui/submit_transaction - Submit a transaction to the Sui blockchain
• /sui/get_events - Query events from the Sui blockchain
• /sui/get_object - Get object information
• /sui/get_status - Get network status

Topics

• /sui_events - Published blockchain events
• /indexer_status - Indexer node status updates

Configuration

Service Node

Edit config/config.yaml to configure:

• Network (testnet/devnet/mainnet)
• RPC URL
• WebSocket URL
• Timeouts and other parameters

Indexer Node

Configure via launch file parameters:

• polling_interval_ms (default: 1000) - Event polling interval
• network (default: testnet) - Sui network to connect to
• default_limit (default: 50) - Maximum events per query
• package_id (required) - Sui package ID to monitor
• database_url (default: file:sui_indexer.db) - SQLite database location

Database

Development

During development, the SQLite database is stored in the package source directory as sui_indexer.db. This simplifies development and testing.

Production

For production deployments, specify an absolute path using the database_url parameter:

ros2 launch sui_indexer indexer.launch.py \
    "package_id:='YOUR_PACKAGE_ID'" \
    "database_url:='file:/var/lib/sui_indexer/sui_indexer.db'"

Schema

The indexer maintains three tables:

• Cursor - Tracks event processing progress
• Escrow - Stores escrow-related events
• Locked - Stores lock-related events

Access the database directly using SQLite tools or via the Prisma client.