> ## Documentation Index
> Fetch the complete documentation index at: https://docs.peaq.xyz/llms.txt
> Use this file to discover all available pages before exploring further.

# Service Index

> All ROS 2 services exposed by the peaq core workspace with request/response context.

`peaq_ros2_core` exposes the full robotics SDK as ROS 2 services. Use this index as a quick reference before diving into the detailed guides that follow.

## Service Catalog

| Namespace    | Service             | Type                                              | Purpose                                                              |
| ------------ | ------------------- | ------------------------------------------------- | -------------------------------------------------------------------- |
| `~/identity` | `create`            | `peaq_ros2_interfaces/srv/IdentityCreate`         | Provision a DID for the robot wallet with optional metadata          |
| `~/identity` | `read`              | `peaq_ros2_interfaces/srv/IdentityRead`           | Fetch the current DID document                                       |
| `~/storage`  | `add`               | `peaq_ros2_interfaces/srv/StoreAddData`           | Submit compact JSON data or file pointers to the peaq storage pallet |
| `~/storage`  | `read`              | `peaq_ros2_interfaces/srv/StoreReadData`          | Retrieve stored data and IPFS CIDs                                   |
| `~/access`   | `create_role`       | `peaq_ros2_interfaces/srv/AccessCreateRole`       | Define a new RBAC role                                               |
| `~/access`   | `create_permission` | `peaq_ros2_interfaces/srv/AccessCreatePermission` | Register a permission identifier                                     |
| `~/access`   | `assign_permission` | `peaq_ros2_interfaces/srv/AccessAssignPermToRole` | Link a permission to a role                                          |
| `~/access`   | `grant_role`        | `peaq_ros2_interfaces/srv/AccessGrantRole`        | Grant a role to a robot or user DID                                  |
| `~/`         | `info`              | `peaq_ros2_interfaces/srv/GetNodeInfo`            | Return node metadata, network, wallet address, and config summary    |

All services are lifecycle-aware: start the node, configure, and activate it before sending requests.

```bash theme={"theme":{"light":"github-light-default","dark":"github-dark"}}
ros2 launch peaq_ros2_core core.launch.py
ros2 lifecycle set /peaq_core_node configure
ros2 lifecycle set /peaq_core_node activate
```

Next explore the focused guides:

* [Identity](/peaqchain/sdk-reference/robotics-sdk/ros2/core-services/identity)
* [Access Control](/peaqchain/sdk-reference/robotics-sdk/ros2/core-services/access)
* [Storage Services](/peaqchain/sdk-reference/robotics-sdk/ros2/core-services/storage)
* [Node Info](/peaqchain/sdk-reference/robotics-sdk/ros2/core-services/node-info)