Launch Core Services

Run lifecycle-managed ROS 2 nodes for peaq identity, access, and storage operations.

After configuring the workspace, start the lifecycle nodes that provide blockchain connectivity. Source both the ROS 2 distro and the workspace overlay before launching.

source /opt/ros/humble/setup.bash
source install/setup.bash

# core.launch.py has no YAML argument: point the core node at your config file through the environment
export PEAQ_ROS2_CONFIG_YAML=$PWD/peaq_ros2_examples/config/peaq_robot.yaml

# Launch core services
ros2 launch peaq_ros2_core core.launch.py

Use the same YAML for the storage bridge so the core node and the bridge load the same wallet.

The launch file spins up core_node and events_node with lifecycle management enabled. Key launch arguments:

Parameter	Default	Description
network	agung	agung, or a full wss:// URL. The peaq and mainnet aliases point to a retired host; for mainnet pass wss://peaq.api.onfinality.io/public-ws
confirmation_mode	FAST	Accepted but has no effect: the core node submits every write in FAST mode
log_level	INFO	Logging level across nodes

Override them inline:

ros2 launch peaq_ros2_core core.launch.py \
  network:=wss://peaq.api.onfinality.io/public-ws \
  log_level:=DEBUG

Lifecycle Management

The nodes start in the unconfigured state. Use standard lifecycle commands to configure and activate them:

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

ros2 lifecycle get /peaq_core_node

core.launch.py also starts peaq_events_node, but that node fails its configure transition and does not publish anything, so leave it unconfigured.

Storage Bridge

Launch the storage bridge when you want IPFS-backed storage flows (managed pinning optional):

ros2 launch peaq_ros2_core storage_bridge.launch.py

The launch file takes no arguments and uses inline defaults, including signature.algorithm: ed25519 with an empty private key, so every ingest reports FAILED unless PEAQ_SIGNING_SK_HEX holds an ed25519 private key in hex. To use your configuration file start the node directly with ros2 run peaq_ros2_core storage_bridge_node --ros-args -p config.yaml_path:=<path>. The bridge also starts with robot.require_did: true: it exits at startup unless peaq_core_node is active and its wallet already has a DID (create it with /peaq_core_node/identity/create), or you set require_did: false under storage_bridge.robot in your config file. The bridge retries failed writes and exposes ROS 2 interfaces documented in Verifiable Storage.

For a full demo, continue with the example launches.