Identity

Manage robot DIDs through lifecycle ROS 2 services.

This concept has been absorbed into peaqOS. See peaqID for the current identity model.

peaq ROS 2 brings the Robotics Python SDK’s identity APIs into the ROS 2 ecosystem. core_node exposes fully lifecycle-managed services so every robot can create and query decentralized identities (DIDs) without leaving ROS tooling.

Service	Type	Purpose
/peaq_core_node/identity/create	peaq_ros2_interfaces/srv/IdentityCreate	Create a DID with optional metadata
/peaq_core_node/identity/read	peaq_ros2_interfaces/srv/IdentityRead	Return the DID document linked to the node wallet

When to Use It

• Provision new robots on the peaq network directly from ROS launch flows
• Attach metadata to robots for fleet discovery and access control
• Audit DID state via ROS services before orchestrating missions

Launch Prerequisites

ros2 launch peaq_ros2_core core.launch.py network:=agung

ros2 lifecycle set /peaq_core_node configure
ros2 lifecycle set /peaq_core_node activate

The core node must be active to serve identity calls. Ensure its wallet holds testnet funds.

Create a DID

ros2 service call /peaq_core_node/identity/create \
  peaq_ros2_interfaces/srv/IdentityCreate \
  '{metadata_json: "{\"fleet\": \"warehouse_drivers\"}"}'

Service response:

response:
peaq_ros2_interfaces.srv.IdentityCreate_Response(tx_hash='0xabc123...')

An empty tx_hash means the service returned no transaction hash: the DID may already exist, a create may already be pending, or the create failed before or after it was submitted. Check with identity/read and the node log before retrying.

Monitor submissions on peaq/tx_status:

ros2 topic echo /peaq/tx_status

The core node publishes a PENDING entry for each transaction it submits.

Read the DID Document

IdentityRead takes no parameters. It reads the DID of the node wallet.

ros2 service call /peaq_core_node/identity/read \
  peaq_ros2_interfaces/srv/IdentityRead

Example output:

response:
peaq_ros2_interfaces.srv.IdentityRead_Response(doc_json='{"did_account": "5G...", "name": "did:peaq:5G...", "decoded_data": {...}, "exists": true, "read_status": "success"}')

Use this service to confirm metadata before handing off to mission control nodes.

Integrate in Launch Files

Embed identity creation in automated provisioning flows:

# launch/identity_provision.launch.py
from launch import LaunchDescription
from launch_ros.actions import LifecycleNode

def generate_launch_description():
    return LaunchDescription([
        LifecycleNode(
            package='peaq_ros2_core',
            executable='core_node',
            name='peaq_core_node',
            namespace='',
            parameters=[{'config.yaml_path': '/work/configs/peaq_robot.yaml'}]
        )
    ])

After activation, issue a ros2 service call or include a lightweight automation node that wraps the service call to guarantee every robot registers itself when it boots.

Operational Tips

• Store metadata (e.g., robot_model, location) to simplify downstream access control rules.
• The core node submits identity writes in FAST mode whatever PEAQ_ROBOT_CONFIRMATION_MODE is set to. The SDK waits for finalization before it returns the hash, so a returned hash is already final.

Continue to Access Control for managing roles once identities exist.