Service Index

peaq_ros2_tether adds an optional ROS 2 node (peaq_tether_node) that integrates Tether WDK (EVM wallet module) so robots can:

Create an EVM wallet address
Query USDT (ERC-20) balance on peaq EVM
Transfer USDT on peaq EVM

This integration is address-only:

ROS APIs use only EVM addresses (address, from_address, to_address)
Wallet secrets (mnemonic) are stored locally on the robot/machine in one shared registry file
No private keys/mnemonics are ever sent over ROS services

Service Catalog

Service	Type	Purpose
`/peaq_tether_node/wallet/create`	`peaq_ros2_interfaces/srv/TetherCreateWallet`	Create a new EVM wallet address (mnemonic stored locally)
`/peaq_tether_node/usdt/balance`	`peaq_ros2_interfaces/srv/TetherGetUsdtBalance`	Read USDT balance for an address
`/peaq_tether_node/usdt/transfer`	`peaq_ros2_interfaces/srv/TetherTransferUsdt`	Transfer USDT from one local wallet address to another address

Use this index as a quick reference, then dive into the focused guides:

Launch Prerequisites

Install JS dependencies once (Node.js required where the node runs):

cd peaq_ros2_tether/js
npm ci

Start the node via ros2 run. Notes:

If you run multiple ROS 2 environments on the same host, isolate them with ROS_DOMAIN_ID to prevent service collisions.
When running from a source checkout, the node prefers a CLI path where Node can resolve node_modules/. The simplest approach is to run from the workspace root. You can also override the CLI path explicitly with PEAQ_TETHER_CLI_PATH.

export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-94}"

# Point this to your clone path
export REPO_DIR="<path to your peaq-robotics-ros2 clone>"
cd "$REPO_DIR"

export PEAQ_CFG="$REPO_DIR/peaq_ros2_examples/config/peaq_robot.yaml"

# IMPORTANT: set this explicitly. If REPO_DIR is empty, the default becomes "/peaq_ros2_tether/..."
export PEAQ_TETHER_CLI_PATH="$REPO_DIR/peaq_ros2_tether/js/peaq_tether_cli.mjs"

# Option A (recommended): tmux detach (keeps the node running after SSH disconnects)
tmux new -s tether
# inside tmux:
ros2 run peaq_ros2_tether tether_node --ros-args -p config.yaml_path:="$PEAQ_CFG"
# detach without stopping: Ctrl-b then d
#
# After detaching, the node keeps running and ROS services continue to work from any terminal
# (as long as you source your ROS environment and use the same ROS_DOMAIN_ID).

# Option B: background + disown
# ros2 run peaq_ros2_tether tether_node --ros-args -p config.yaml_path:="$PEAQ_CFG" \
#   > /tmp/tether_node.log 2>&1 & disown

Confirm the node is running and services are registered:

export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-94}"
# In a new terminal you must source ROS so `ros2` is available:
# source /opt/ros/<your_ros_distro>/setup.bash
# source <path to your peaq-robotics-ros2 clone>/install/setup.bash
ros2 node list | grep peaq_tether_node
ros2 service list | grep peaq_tether_node

Stop the node:

tmux option:
- Re-attach: tmux attach -t tether
- Stop inside tmux: Ctrl-c
- (Or kill the session): tmux kill-session -t tether
background/disown option:
- Try:
  - pkill -f "ros2 run peaq_ros2_tether tether_node" || true
  - pkill -f "peaq_ros2_tether/tether_node" || true
- If the node was started as another user (or with sudo), you may need sudo pkill ....
- Verify it’s gone:
  - pgrep -af "peaq_ros2_tether.*tether_node" || echo "tether node stopped"

If ros2 node list still shows stale entries right after stopping, restart the ROS CLI daemon and try again:

ros2 daemon stop || true
ros2 daemon start || true

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Launch Prerequisites

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​Launch Prerequisites

Service Catalog

Launch Prerequisites