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The ROS 2 event pipeline keeps operators and autonomy stacks informed about blockchain activity in real time. events_node converts SDK callbacks into ROS topics so you can react to confirmations, failures, or custom pallet events without polling.

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Topics

Both topics are QoS-configured for reliability in distributed robot fleets.

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Launch Events Node

Events node starts automatically with core.launch.py. To run it on its own:

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Monitor Transactions

Example output:
Use the metadata to drive dashboards, emit alerts, or trigger retries in application logic.

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Subscribe to Events

Events include pallet name, method, and payload JSON. Example for a DID creation:

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Integrate with Autonomy Stacks

  • Feed peaq/tx_status into behavior trees to wait for blockchain confirmation before executing moves.
  • Use peaq/events to trigger ROS actions (e.g., start storage ingestion once a DID is acknowledged).
  • Attach event subscribers to logging pipelines for compliance and analytics.

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Troubleshooting

  • If events stop flowing, check lifecycle state: ros2 lifecycle get /peaq_events_node.
  • Review /tmp/events_node.log for connection or authentication issues.
  • Ensure PEAQ_ROBOT_EVENTS_ENABLED=true is set when relying on environment variables.
With event streaming in place you have an end-to-end feedback loop across identity, access, and storage operations. Pair this with the Messaging Index and Verifiable Storage to cover every messaging pathway.