ROS 2 configuration

Configure peaqOS ROS 2 with a unified YAML file, local wallet registry, faucet, and contract addresses.

peaqos_node uses the same unified peaq_robot.yaml pattern as the rest of the robotics workspace. Keep populated config files out of version control.

Base YAML

peaq_robot.yaml

peaq_os:
  enabled: true

  rpc_url: "https://quicknode1.peaq.xyz"

  faucet:
    base_url: "https://depinstation.peaq.xyz"
    qr_format: "svg"

  wallet_registry:
    path: "~/.peaq_robot/peaqos_wallets.json"

This block runs the wallet services, faucet access and local event validation. Registration, NFT, DID, event-submission, smart-account and bridge services also need the six contract keys from Mainnet contracts (identity_registry, identity_staking, event_registry, machine_nft, did_registry, batch_precompile), set in YAML or through their environment overrides.

The ROS 2 node signs internally after looking up the local private key by EVM address. Do not pass private keys, mnemonics, or faucet TOTP secrets through ROS topics.

Mainnet contracts

Tokenomics 1.0 path. The node drives the Tokenomics 1.0 contracts below. They serve machines already onboarded under Tokenomics 1.0. New machines use the Economics 2.0 flow in Activate, which has no ROS 2 service.

These are the Tokenomics 1.0 peaq mainnet addresses, plus the DID and batch precompiles. Each key has an environment-variable override.

Config key	Environment override
identity_registry	IDENTITY_REGISTRY_ADDRESS
identity_staking	IDENTITY_STAKING_ADDRESS
event_registry	EVENT_REGISTRY_ADDRESS
machine_nft	MACHINE_NFT_ADDRESS
did_registry	DID_REGISTRY_ADDRESS
batch_precompile	BATCH_PRECOMPILE_ADDRESS
machine_account_factory	MACHINE_ACCOUNT_FACTORY_ADDRESS
machine_nft_adapter	MACHINE_NFT_ADAPTER_ADDRESS

peaq_os:
  contracts:
    identity_registry: "0xb53Af985765031936311273599389b5B68aC9956"
    identity_staking: "0x11c05A650704136786253e8685f56879A202b1C7"
    event_registry: "0x43c6AF2E14dc1327dc3cc6c7117D1CD72fffEcbA"
    machine_nft: "0x2943F80e9DdB11B9Dd275499C661Df78F5F691F9"
    did_registry: "0x0000000000000000000000000000000000000800"
    batch_precompile: "0x0000000000000000000000000000000000000805"
    machine_account_factory: "0x4A808d5A90A2c91739E92C70aF19924e0B3D527f"
    machine_nft_adapter: "0x9AD5408702EC204441A88589B99ADfC2514AFAE6"

Optional defaults

Use defaults when multiple service calls use the same owner, proxy, or machine wallet.

peaq_os:
  defaults:
    owner_address: "0xOwner..."
    machine_address: "0xMachine..."
    proxy_address: "0xProxy..."

When a matching request field is empty, the node uses these defaults. Pass explicit addresses in production automation so calls stay auditable.

Operational limits

All zeros disable SDK-side event caps.

peaq_os:
  operational_limits:
    max_value_per_tx: 0
    rate_limit_max_events: 0
    rate_limit_window_seconds: 0

Base bridge settings

The Machine NFT bridge moves Tokenomics 1.0 Machine NFTs only; see Bridge. peaq to Base bridge calls use the peaq-side machine_nft_adapter. Base to peaq bridge calls additionally require a Base RPC URL and Base Machine NFT address in the service request, plus Base ETH on the signer wallet for gas.

Base Machine NFT address:

0xee8A521eA434b11F956E2402beC5eBfa753Babfa

Launch

ros2 run peaq_ros2_peaqos peaqos_node --ros-args \
  -p config.yaml_path:=peaq_ros2_examples/config/peaq_robot.yaml

Next, use the service catalog or run the ROS 2 machine runtime guide.