bob_central.go_bridge_node
==========================

.. py:module:: bob_central.go_bridge_node

.. autoapi-nested-parse::

   go_bridge_node.py - Eva's ROS 2 Go Bridge Node.

   Bridges the Eva Python mesh with the external libp2p/IPFS DHT network
   via the Go binary. Provides peer discovery, node identification,
   IPFS content routing, and peer profiling.

   Topics:
     /eva/swarm/external_peers (std_msgs/String) - Discovered external peers & profiles
     /eva/swarm/external_status (std_msgs/String) - Bridge health status



Attributes
----------

.. autoapisummary::

   bob_central.go_bridge_node.GO_BRIDGE_PATH
   bob_central.go_bridge_node.KNOWN_BOOTSTRAP
   bob_central.go_bridge_node.INTERESTING_CIDS


Classes
-------

.. autoapisummary::

   bob_central.go_bridge_node.GoBridgeNode


Functions
---------

.. autoapisummary::

   bob_central.go_bridge_node.main


Module Contents
---------------

.. py:data:: GO_BRIDGE_PATH
   :value: '/ros2_ws/src/bob_central/scripts/go-bridge'


.. py:data:: KNOWN_BOOTSTRAP
   :value: '/ip4/51.81.93.51/tcp/4001/p2p/QmQCU2EcMqAqQPR2i9bChDtGNJchTbq5TbXJJ16u19uLTa'


.. py:data:: INTERESTING_CIDS
   :value: ['QmS4ustL54uo8FzR9455qaxZwuMiUhyvMcX9Ba8nUH4uVv', 'QmYwAPJzv5CZsnA625s3Xf2nemtYgPpHdWEz79ojWnPbdG']


.. py:class:: GoBridgeNode

   Bases: :py:obj:`rclpy.node.Node`


   ROS 2 node wrapping the Go libp2p bridge binary.


   .. py:attribute:: peers_pub


   .. py:attribute:: status_pub


   .. py:attribute:: discovered_peers


   .. py:attribute:: peer_profiles


   .. py:attribute:: discovered_providers


   .. py:attribute:: last_scan_time
      :value: 0



   .. py:attribute:: scan_interval
      :value: 300



   .. py:attribute:: bridge_path
      :value: '/ros2_ws/src/bob_central/scripts/go-bridge'



   .. py:attribute:: bridge_available
      :value: False



   .. py:method:: _run_bridge(args: list, timeout: int = 60) -> dict


   .. py:method:: _profile_peer(peer_id: str) -> dict

      Resolve and identify a peer, returning its profile.



   .. py:method:: run_discovery()

      Run periodic peer discovery, content routing, and profiling.



   .. py:method:: identify_node(multiaddr: str) -> dict


   .. py:method:: find_peers(bootstrap_addr: str = None, count: int = 20) -> dict


   .. py:method:: find_providers(cid_str: str) -> dict


   .. py:method:: publish_status()


.. py:function:: main(args=None)