Core Service Index

All ROS 2 services exposed by the peaq core workspace with request/response context.

peaq_ros2_core exposes the robotics SDK as ROS 2 services. Use this index as a quick reference; the guides that follow cover each group in detail.

Service Catalog

Namespace	Service	Type	Purpose
~/identity	create	peaq_ros2_interfaces/srv/IdentityCreate	Provision a DID for the robot wallet with optional metadata
~/identity	read	peaq_ros2_interfaces/srv/IdentityRead	Fetch the current DID document
~/storage	add	peaq_ros2_interfaces/srv/StoreAddData	Submit compact JSON data or file pointers to the peaq storage pallet
~/storage	read	peaq_ros2_interfaces/srv/StoreReadData	Retrieve stored data
~/access	create_role	peaq_ros2_interfaces/srv/AccessCreateRole	Define a new RBAC role
~/access	create_permission	peaq_ros2_interfaces/srv/AccessCreatePermission	Register a permission identifier
~/access	assign_permission	peaq_ros2_interfaces/srv/AccessAssignPermToRole	Link a permission to a role
~/access	grant_role	peaq_ros2_interfaces/srv/AccessGrantRole	Grant a role to a robot or user DID
~/	info	peaq_ros2_interfaces/srv/GetNodeInfo	Return node metadata, network, wallet address, and config summary

All services are lifecycle-aware: start the node, configure, and activate it before sending requests.

The ~/access services need the peaq-robotics-sdk package. The repository’s requirements.txt installs peaq-robot-sdk, a package without the access module, so run pip uninstall -y peaq-robot-sdk && pip install -U peaq-robotics-sdk after installing the requirements.

ros2 launch peaq_ros2_core core.launch.py
ros2 lifecycle set /peaq_core_node configure
ros2 lifecycle set /peaq_core_node activate

Next explore the focused guides:

• Identity
• Access Control
• Storage Services
• Node Info