Introduction

ROS 2 integration for the peaq robotics stack.

The ROS 2 SDK is a work in progress. Commands, launch files and interfaces can change between releases. The repository’s requirements.txt installs peaq-robot-sdk, a package without the access module; replace it with peaq-robotics-sdk (the pip uninstall line in the quickstart) or the access services fail.

The peaq Robotics SDK for ROS 2 brings identity, access, and storage flows to ROS applications. It exposes modules you can use across robot fleets:

• Identity (id): create and read identity documents
• Access (access): roles, permissions, and grants
• Storage (store): write and read compact JSON data
• Tether WDK (tether): create EVM addresses, read USDT balances, and transfer USDT on peaq EVM

The ROS 2 packages target ROS 2 Humble. They run on the same robot classes as the Robotics Python SDK, from Unitree models to TurtleBot and HiWonder, wherever ROS 2 is available on the device.

Quickstart:

# Clone and build
git clone https://github.com/peaqnetwork/peaq-robotics-ros2.git
cd peaq-robotics-ros2
pip install -r requirements.txt
pip uninstall -y peaq-robot-sdk && pip install -U peaq-robotics-sdk
source /opt/ros/humble/setup.bash
colcon build && source install/setup.bash

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

# Configure and activate lifecycle
ros2 lifecycle set /peaq_core_node configure
ros2 lifecycle set /peaq_core_node activate

# Create an identity
ros2 service call /peaq_core_node/identity/create \
  peaq_ros2_interfaces/srv/IdentityCreate \
  '{metadata_json: "{\"type\": \"robot\"}"}'