Messaging Index

ROS 2 topics exposed by the peaq robotics workspace and how to use them.

The ROS 2 workspace exposes several pub/sub channels in addition to the service APIs.

Command & Telemetry Topics

Topic	Type	Direction	Purpose
peaq/storage/ingest	peaq_ros2_interfaces/msg/StorageIngest	Publish	Send telemetry or file CIDs to the storage bridge
peaq/storage/status	peaq_ros2_interfaces/msg/StorageResult	Subscribe	Track success/failure for each storage ingest
peaq/tx_status	peaq_ros2_interfaces/msg/TxStatus	Subscribe	PENDING notifications for transactions submitted by the core node
peaq/events	peaq_ros2_interfaces/msg/Event	Subscribe	Messages other ROS nodes publish; blockchain event streaming is not implemented

StorageIngest Schema

string key
bool   is_file
string file_path
string content
string content_type
string metadata_json

• Use is_file=true with file_path when pointing to local files that the bridge should upload to IPFS
• Provide structured payloads via content (JSON) plus an optional metadata_json envelope for robot state, firmware versions, or mission identifiers

StorageResult Schema

string key
string cid
string ipfs_url
string tx_hash
string status
string error

• status is PENDING, RETRYING, or FAILED; the core node reports only PENDING on peaq/tx_status
• Failed blockchain submissions of uploaded IPFS envelopes are written to /tmp/storage_bridge_failures.jsonl for replay. IPFS upload and signing failures are reported on peaq/storage/status but are not written to that log

See Verifiable Storage to add DID-backed authentication on top of these topics.