Updated README

README.md

@@ -144,7 +144,7 @@ https://wiki.robonomics.network/docs/create-account-in-dapp
     cp robonomics_ros2_pubsub/config/robonomics_params_template.yaml robonomics_ros2_pubsub/config/robonomics_params.yaml
     ```
 
-4. Insert the account seed phrase and the account type into new `robonomics_params.yaml` file:
+4. Insert the account seed phrase and the account type into new `robonomics_params.yaml` file. 
     ```yaml
     /**:
       ros__parameters:
@@ -154,17 +154,26 @@ https://wiki.robonomics.network/docs/create-account-in-dapp
 
    > **WARNING**: The seed phrase is sensitive information that allows anyone to use your account. Make sure you don't 
    > upload a config file with it to GitHub or anywhere else.
+
+5. If you have a Robonomics subscription that allows you to send transactions without fees, please insert the address 
+of the subscription owner. Don't forget that your account must be added to your subscription.
+
+    ```yaml
+    /**:
+      ros__parameters:
+        rws_owner_address: ''
+    ```
 
-   You may also want to change the directory where the files for IPFS will be stored. To do this, change the parameter
+6. You may also want to change the directory where the files for IPFS will be stored. To do this, change the parameter
    `ipfs_files_path`.
 
-5. Then you can test the repository with turtlesim package or make your own robot integration. Anyway, after that
+7. Then you can test the repository with turtlesim package or make your own robot integration. Anyway, after that
 you need to build the package. From `your_project_ws` directory run:
     ```shell
     colcon build
     ```
 
-6. Source the package to the environment (you will need it to do in every console instance):
+8. Source the package to the environment (you will need it to do in every console instance):
     ```shell
     source install/setup.bash
     ```

requirements.txt

@@ -1,5 +1,4 @@
 IPFS-Toolkit>=0.5.19
 PyYAML>=6.0.1
 robonomics-interface>=1.6.1
-substrate-interface>=1.7.4
-scalecodec
+substrate-interface>=1.7.4

robonomics_ros2_pubsub/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>robonomics_ros2_pubsub</name>
-  <version>0.0.3</version>
+  <version>0.0.4</version>
   <description>Package for sending topic content to Robonomics datalog and getting content vise versa</description>
   <maintainer email="[email protected]">Ivan Berman</maintainer>
   <license>Apache-2.0</license>

robonomics_ros2_pubsub/robonomics_ros2_pubsub/robonomics_ros2_sender.py

@@ -3,8 +3,6 @@
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
 
-from robonomicsinterface import Launch
-
 from robonomics_ros2_interfaces.srv import RobonomicsROS2SendDatalog, RobonomicsROS2SendLaunch
 from robonomics_ros2_pubsub.utils.crypto_utils import create_account, create_launch_datalog_instance
 

robonomics_ros2_pubsub/setup.py

@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version='0.0.3',
+    version='0.0.4',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages',