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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.

peaqos_node uses the same unified peaq_robot.yaml pattern as the rest of the robotics workspace. Keep populated config files out of version control.

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Minimal YAML

peaq_robot.yaml
peaq_os:
  enabled: true

  rpc_url: "https://quicknode1.peaq.xyz"
  api_url: "https://mcr.peaq.xyz"

  faucet:
    base_url: "https://depinstation.peaq.network"
    qr_format: "svg"

  wallet_registry:
    path: "~/.peaq_robot/peaqos_wallets.json"
The ROS 2 node signs internally after looking up the local private key by EVM address. Do not pass private keys, mnemonics, or faucet TOTP secrets through ROS topics.

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Mainnet contracts

The example config ships current peaq mainnet proxy defaults.

identity_registry

Env override: IDENTITY_REGISTRY_ADDRESSMainnet address: 0xb53Af985765031936311273599389b5B68aC9956

identity_staking

Env override: IDENTITY_STAKING_ADDRESSMainnet address: 0x11c05A650704136786253e8685f56879A202b1C7

event_registry

Env override: EVENT_REGISTRY_ADDRESSMainnet address: 0x43c6c12eecAf4fB3F164375A9c44f8a6Efc139b9

machine_nft

Env override: MACHINE_NFT_ADDRESSMainnet address: 0x2943F80e9DdB11B9Dd275499C661Df78F5F691F9

did_registry

Env override: DID_REGISTRY_ADDRESSMainnet address: 0x0000000000000000000000000000000000000800

batch_precompile

Env override: BATCH_PRECOMPILE_ADDRESSMainnet address: 0x0000000000000000000000000000000000000805

machine_account_factory

Env override: MACHINE_ACCOUNT_FACTORY_ADDRESSMainnet address: 0x4A808d5A90A2c91739E92C70aF19924e0B3D527f

machine_nft_adapter

Env override: MACHINE_NFT_ADAPTER_ADDRESSMainnet address: 0x9AD5408702EC204441A88589B99ADfC2514AFAE6
peaq_os:
  contracts:
    identity_registry: "0xb53Af985765031936311273599389b5B68aC9956"
    identity_staking: "0x11c05A650704136786253e8685f56879A202b1C7"
    event_registry: "0x43c6c12eecAf4fB3F164375A9c44f8a6Efc139b9"
    machine_nft: "0x2943F80e9DdB11B9Dd275499C661Df78F5F691F9"
    did_registry: "0x0000000000000000000000000000000000000800"
    batch_precompile: "0x0000000000000000000000000000000000000805"
    machine_account_factory: "0x4A808d5A90A2c91739E92C70aF19924e0B3D527f"
    machine_nft_adapter: "0x9AD5408702EC204441A88589B99ADfC2514AFAE6"

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Optional defaults

Use defaults when multiple service calls use the same owner, proxy, or machine wallet. 
peaq_os:
  defaults:
    owner_address: "0xOwner..."
    machine_address: "0xMachine..."
    proxy_address: "0xProxy..."
When a matching request field is empty, the node can use these defaults. Production automation should still pass explicit addresses where possible for auditability.

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Operational limits

All zeros disable SDK-side event caps. 
peaq_os:
  operational_limits:
    max_value_per_tx: 0
    rate_limit_max_events: 0
    rate_limit_window_seconds: 0

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Base bridge settings

peaq to Base bridge calls use the peaq-side machine_nft_adapter. Base to peaq bridge calls additionally require a Base RPC URL and Base Machine NFT address in the service request. Known Base Machine NFT address: 
0xee8A521eA434b11F956E2402beC5eBfa753Babfa
Base to peaq bridge calls require Base ETH on the signer wallet for gas.

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Launch

ros2 run peaq_ros2_peaqos peaqos_node --ros-args \
  -p config.yaml_path:=peaq_ros2_examples/config/peaq_robot.yaml
Next, use the service catalog or run the ROS 2 machine runtime guide.