> ## 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.

# Example Launches

> Validate end-to-end ROS 2 + peaq pipelines with production-ready launch files.

`peaq_ros2_examples` packages launch files that orchestrate the core services, storage bridge, and helper scripts. Use them to validate your setup or as templates for project-specific launches.

## `demo_core.launch.py`

Launches the core node and events node together:

```bash theme={"theme":{"light":"github-light-default","dark":"github-dark"}}
ros2 launch peaq_ros2_examples demo_core.launch.py \
  network:=agung \
  confirmation_mode:=FAST \
  log_level:=INFO
```

* Starts `core_node` + `events_node`
* Applies configuration from `peaq_ros2_examples/config/peaq_robot.yaml`
* Suitable for identity, access, and storage service testing
* Emits rich telemetry on `peaq/tx_status` and `peaq/events` so monitors light up immediately

## `storage_bridge.launch.py`

Included with `peaq_ros2_core`, this launch is often combined with `demo_core` to exercise storage flows:

```bash theme={"theme":{"light":"github-light-default","dark":"github-dark"}}
ros2 launch peaq_ros2_core storage_bridge.launch.py
```

* Subscribes to `peaq/storage/ingest`
* Publishes `peaq/storage/status`
* Honours retry policies defined in the shared configuration file
* Demonstrates how RBAC-protected storage flows finalize on-chain with streaming feedback

## `e2e_test.launch.py`

Runs a full end-to-end scenario used by the testing guide:

```bash theme={"theme":{"light":"github-light-default","dark":"github-dark"}}
ros2 launch peaq_ros2_examples e2e_test.launch.py \
  network:=agung \
  confirmation_mode:=FINAL
```

* Spins up core services, storage bridge, and test utilities
* Validates DID creation, storage writes, and event streaming automatically

Each launch exposes the same arguments (`network`, `confirmation_mode`, `log_level`, `config_yaml`). Extend them with additional nodes or parameters as needed for your deployment.

Continue with the [example scripts](/peaqchain/sdk-reference/robotics-sdk/ros2/examples/scripts) to trigger specific blockchain operations.