> ## 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.

# Introduction

> ROS 2 integration for the peaq robotics stack.

<Note>
  The ROS 2 SDK is a work in progress. Commands, launch files and interfaces can change between releases. The repository's `requirements.txt` installs `peaq-robot-sdk`, a package without the access module; replace it with `peaq-robotics-sdk` (the `pip uninstall` line in the quickstart) or the access services fail.
</Note>

The peaq Robotics SDK for ROS 2 brings identity, access, and storage flows to ROS applications. It exposes modules you can use across robot fleets:

* [Identity (`id`)](/peaqchain/sdk-reference/robotics-sdk/ros2/core-services/identity): create and read identity documents
* [Access (`access`)](/peaqchain/sdk-reference/robotics-sdk/ros2/core-services/access): roles, permissions, and grants
* [Storage (`store`)](/peaqchain/sdk-reference/robotics-sdk/ros2/core-services/storage): write and read compact JSON data
* [Tether WDK (`tether`)](/peaqchain/sdk-reference/robotics-sdk/ros2/tether/overview): create EVM addresses, read USDT balances, and transfer USDT on peaq EVM

The ROS 2 packages target ROS 2 Humble. They run on the same robot classes as the Robotics Python SDK, from Unitree models to TurtleBot and HiWonder, wherever ROS 2 is available on the device.

Quickstart:

```bash theme={"theme":{"light":"github-light-default","dark":"github-dark"}}
# Clone and build
git clone https://github.com/peaqnetwork/peaq-robotics-ros2.git
cd peaq-robotics-ros2
pip install -r requirements.txt
pip uninstall -y peaq-robot-sdk && pip install -U peaq-robotics-sdk
source /opt/ros/humble/setup.bash
colcon build && source install/setup.bash

# Launch core services
ros2 launch peaq_ros2_core core.launch.py

# Configure and activate lifecycle
ros2 lifecycle set /peaq_core_node configure
ros2 lifecycle set /peaq_core_node activate

# Create an identity
ros2 service call /peaq_core_node/identity/create \
  peaq_ros2_interfaces/srv/IdentityCreate \
  '{metadata_json: "{\"type\": \"robot\"}"}'
```


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