Launch Core Services

After configuring the workspace, start the lifecycle nodes that provide blockchain connectivity. Source both the ROS 2 distro and the workspace overlay before launching.

source /opt/ros/humble/setup.bash
source install/setup.bash

# Launch core services with default parameters
ros2 launch peaq_ros2_core core.launch.py

The launch file spins up core_node and events_node with lifecycle management enabled. Key launch arguments:

Parameter	Default	Description
`network`	`agung`	peaq network to target (`peaq` for mainnet)
`confirmation_mode`	`FAST`	Transaction confirmation strategy (`FAST`, `FINAL`)
`log_level`	`INFO`	Logging level across nodes
`config_yaml`	`peaq_ros2_examples/config/peaq_robot.yaml`	Path to configuration file

Override them inline:

ros2 launch peaq_ros2_core core.launch.py \
  network:=peaq \
  confirmation_mode:=FINAL \
  log_level:=DEBUG \
  config_yaml:=/work/configs/robot.yaml

Lifecycle Management

The nodes start in the unconfigured state. Use standard lifecycle commands to configure and activate them:

ros2 lifecycle set /peaq_core_node configure
ros2 lifecycle set /peaq_core_node activate

ros2 lifecycle get /peaq_core_node

Repeat the lifecycle commands for /peaq_events_node if you need to pause or resume event streaming independently. Nodes publish status logs to /tmp/core_node.log and /tmp/events_node.log by default.

Storage Bridge

Launch the storage bridge when you want IPFS-backed storage flows (managed pinning optional):

ros2 launch peaq_ros2_core storage_bridge.launch.py \
  config_yaml:=/work/peaq_ros2_examples/config/peaq_robot.yaml

The bridge consumes the same configuration file, handles retry logic, and exposes ROS 2 interfaces documented in Verifiable Storage. For a full demo, continue with the example launches.

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SDK Reference

Launch Core Services

Lifecycle Management

Storage Bridge

​Lifecycle Management

​Storage Bridge

Lifecycle Management

Storage Bridge