Tether Service Index

Address-only Tether WDK services exposed by peaq_tether_node.

peaq_ros2_tether adds an optional ROS 2 node (peaq_tether_node) that integrates Tether WDK (EVM wallet module) so robots can create an EVM wallet address, read a USDT (ERC-20) balance on peaq EVM, and transfer USDT.

This integration is address-only:

• ROS APIs use only EVM addresses (address, from_address, to_address)
• Wallet secrets (mnemonic) are stored locally on the robot in one shared registry file
• No private keys or mnemonics are sent over ROS services by default. A wallet create call can return the mnemonic only when both opt-in export flags are set, see Wallet

Service Catalog

Service	Type	Purpose
/peaq_tether_node/wallet/create	peaq_ros2_interfaces/srv/TetherCreateWallet	Create a new EVM wallet address (mnemonic stored locally)
/peaq_tether_node/usdt/balance	peaq_ros2_interfaces/srv/TetherGetUsdtBalance	Read USDT balance for an address
/peaq_tether_node/usdt/transfer	peaq_ros2_interfaces/srv/TetherTransferUsdt	Transfer USDT from one local wallet address to another address

Use this index as a quick reference, then dive into the focused guides:

• Wallet
• USDT Balance
• USDT Transfer
• Wallet Registry

Launch Prerequisites

Install JS dependencies once (Node.js required where the node runs):

cd peaq_ros2_tether/js
npm ci

Set tether.enabled: true in peaq_robot.yaml. The services register either way, but every call returns the error tether.enabled=false until you do.

If you run multiple ROS 2 environments on the same host, isolate them with ROS_DOMAIN_ID to prevent service collisions. When running from a source checkout, the node prefers a CLI path where Node can resolve node_modules/, so run from the workspace root or override the CLI path with PEAQ_TETHER_CLI_PATH.

Start the node with ros2 run:

export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-94}"

# Point this to your clone path
export REPO_DIR="<path to your peaq-robotics-ros2 clone>"
cd "$REPO_DIR"

export PEAQ_CFG="$REPO_DIR/peaq_ros2_examples/config/peaq_robot.yaml"

# Set this explicitly. If REPO_DIR is empty, the default becomes "/peaq_ros2_tether/..."
export PEAQ_TETHER_CLI_PATH="$REPO_DIR/peaq_ros2_tether/js/peaq_tether_cli.mjs"

# tmux keeps the node running after an SSH disconnect
tmux new -s tether
# inside tmux:
ros2 run peaq_ros2_tether tether_node --ros-args -p config.yaml_path:="$PEAQ_CFG"
# detach without stopping: Ctrl-b then d

# Without tmux: background + disown
# ros2 run peaq_ros2_tether tether_node --ros-args -p config.yaml_path:="$PEAQ_CFG" \
#   > /tmp/tether_node.log 2>&1 & disown

After detaching, the node keeps running and its services stay reachable from any terminal that sources your ROS environment and uses the same ROS_DOMAIN_ID.

Confirm the node is running and services are registered:

export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-94}"
# In a new terminal you must source ROS so `ros2` is available:
# source /opt/ros/<your_ros_distro>/setup.bash
# source <path to your peaq-robotics-ros2 clone>/install/setup.bash
ros2 node list | grep peaq_tether_node
ros2 service list | grep peaq_tether_node

To stop the node, re-attach with tmux attach -t tether and press Ctrl-c, or kill the session with tmux kill-session -t tether. A backgrounded node stops with pkill -f "peaq_ros2_tether.*tether_node".

If ros2 node list still shows stale entries right after stopping, restart the ROS CLI daemon and try again:

ros2 daemon stop || true
ros2 daemon start || true