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This page lists the canonical machine endpoints and documented agent aliases exposed under /peaqos_node. Requests use ROS 2 service types from peaq_ros2_interfaces. All examples assume the node is running with a populated peaq_robot.yaml; see ROS 2 configuration.
Quote EVM addresses and large integers in ros2 service call YAML payloads. Unquoted addresses can parse as numbers and break the request.

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Wallets

Local EVM registry. Service calls return public metadata only: address, account_id, chain_id, network, label, and created_at. Private keys never cross ROS.
ServiceType
/peaqos_node/wallet/createpeaq_ros2_interfaces/srv/PeaqosCreateWallet
/peaqos_node/wallet/listpeaq_ros2_interfaces/srv/PeaqosListWallets
/peaqos_node/wallet/getpeaq_ros2_interfaces/srv/PeaqosGetWallet
/peaqos_node/wallet/deletepeaq_ros2_interfaces/srv/PeaqosDeleteWallet
# Create
ros2 service call /peaqos_node/wallet/create \
  peaq_ros2_interfaces/srv/PeaqosCreateWallet \
  "{label: 'robot-001'}"

# List
ros2 service call /peaqos_node/wallet/list \
  peaq_ros2_interfaces/srv/PeaqosListWallets "{}"

# Get
ros2 service call /peaqos_node/wallet/get \
  peaq_ros2_interfaces/srv/PeaqosGetWallet \
  "{address: '<MACHINE_EVM_ADDRESS>'}"

# Delete
ros2 service call /peaqos_node/wallet/delete \
  peaq_ros2_interfaces/srv/PeaqosDeleteWallet \
  "{address: '<MACHINE_EVM_ADDRESS>'}"
SDK import, export, and from_wallet flows are intentionally not exposed over ROS because they require , , or . Use the Python SDK or CLI for those.

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Gas Station

onboarding for fresh machine wallets. 2FA codes are request-only and should not be logged.
ServiceType
/peaqos_node/faucet/setup_2fapeaq_ros2_interfaces/srv/PeaqosSetupFaucet2FA
/peaqos_node/faucet/confirm_2fapeaq_ros2_interfaces/srv/PeaqosConfirmFaucet2FA
/peaqos_node/wallet/fundpeaq_ros2_interfaces/srv/PeaqosFundWallet
# 1. Start 2FA enrollment for the owner
ros2 service call /peaqos_node/faucet/setup_2fa \
  peaq_ros2_interfaces/srv/PeaqosSetupFaucet2FA \
  "{owner_address: '<OWNER_EVM_ADDRESS>', qr_format: 'svg'}"

# 2. Confirm with the OTP from the authenticator
ros2 service call /peaqos_node/faucet/confirm_2fa \
  peaq_ros2_interfaces/srv/PeaqosConfirmFaucet2FA \
  "{owner_address: '<OWNER_EVM_ADDRESS>', two_factor_code: '123456'}"

# 3. Fund the target wallet through the Gas Station
ros2 service call /peaqos_node/wallet/fund \
  peaq_ros2_interfaces/srv/PeaqosFundWallet \
  "{owner_address: '<OWNER_EVM_ADDRESS>', target_address: '<MACHINE_EVM_ADDRESS>', chain_id: '3338', two_factor_code: '123456', request_id: ''}"
See the error reference for INVALID_2FA, 2FA_LOCKED, RATE_LIMITED, and CAP_EXCEEDED_OWNER.

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Registration

ServiceType
/peaqos_node/machine/registerpeaq_ros2_interfaces/srv/PeaqosRegisterMachine
/peaqos_node/agent/registerpeaq_ros2_interfaces/srv/PeaqosRegisterAgent
/peaqos_node/machine/register_forpeaq_ros2_interfaces/srv/PeaqosRegisterFor
/peaqos_node/agent/register_forpeaq_ros2_interfaces/srv/PeaqosRegisterFor
/machine/register and /agent/register are interchangeable surfaces over the same registration call. Pick whichever language matches your fleet model. /machine/register_for and /agent/register_for are likewise the same handler under two paths. 
# Self-managed: machine signs for itself
ros2 service call /peaqos_node/machine/register \
  peaq_ros2_interfaces/srv/PeaqosRegisterMachine \
  "{address: '<MACHINE_EVM_ADDRESS>'}"

# Equivalent agent-flavored alias
ros2 service call /peaqos_node/agent/register \
  peaq_ros2_interfaces/srv/PeaqosRegisterAgent \
  "{address: '<AGENT_EVM_ADDRESS>'}"

# Proxy operator: operator signs on behalf of a fleet machine
ros2 service call /peaqos_node/machine/register_for \
  peaq_ros2_interfaces/srv/PeaqosRegisterFor \
  "{proxy_address: '<OPERATOR_EVM_ADDRESS>', machine_address: '<MACHINE_EVM_ADDRESS>'}"
For background on the two patterns, see Self-managed onboarding and Proxy operator fleet.

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Machine NFT

ServiceType
/peaqos_node/nft/mintpeaq_ros2_interfaces/srv/PeaqosMintNft
/peaqos_node/nft/token_id_ofpeaq_ros2_interfaces/srv/PeaqosTokenIdOf
ros2 service call /peaqos_node/nft/mint \
  peaq_ros2_interfaces/srv/PeaqosMintNft \
  "{signer_address: '<OWNER_OR_PROXY_ADDRESS>', machine_id: 1, recipient: '<RECIPIENT_EVM_ADDRESS>'}"

ros2 service call /peaqos_node/nft/token_id_of \
  peaq_ros2_interfaces/srv/PeaqosTokenIdOf \
  "{signer_address: '<SIGNER_EVM_ADDRESS>', machine_id: 1}"

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DID attributes

ServiceType
/peaqos_node/did/read_attributepeaq_ros2_interfaces/srv/PeaqosReadDidAttribute
/peaqos_node/did/write_machine_attributespeaq_ros2_interfaces/srv/PeaqosWriteMachineDidAttributes
/peaqos_node/did/write_proxy_attributespeaq_ros2_interfaces/srv/PeaqosWriteProxyDidAttributes
/did/write_machine_attributes is the standard machine DID write path the MCR API consumes. It writes machineId, nftTokenId, operatorDid, documentationUrl, dataApi, and dataVisibility in one call. /did/write_proxy_attributes is the proxy/operator equivalent; it atomically writes the two standard proxy DID attributes (proxy_agent_id and the list of machine_ids the operator manages). 
# Read one attribute by name from the DID precompile
ros2 service call /peaqos_node/did/read_attribute \
  peaq_ros2_interfaces/srv/PeaqosReadDidAttribute \
  "{signer_address: '<SIGNER_EVM_ADDRESS>', did_address: '<DID_EVM_ADDRESS>', name: 'machineId'}"

# Write the standard machine attributes in one shot
ros2 service call /peaqos_node/did/write_machine_attributes \
  peaq_ros2_interfaces/srv/PeaqosWriteMachineDidAttributes \
  "{signer_address: '<MACHINE_EVM_ADDRESS>', machine_id: 1, nft_token_id: 1, operator_did: 'did:peaq:<OPERATOR_EVM_ADDRESS>', documentation_url: 'https://docs.example/robot-001', data_api: 'https://api.example/robot-001', data_visibility: 'onchain'}"

# Write proxy/operator DID attributes
ros2 service call /peaqos_node/did/write_proxy_attributes \
  peaq_ros2_interfaces/srv/PeaqosWriteProxyDidAttributes \
  "{signer_address: '<PROXY_EVM_ADDRESS>', proxy_agent_id: 1, machine_ids: [1, 2, 3]}"

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Events

ServiceType
/peaqos_node/events/validatepeaq_ros2_interfaces/srv/PeaqosValidateEvent
/peaqos_node/events/submitpeaq_ros2_interfaces/srv/PeaqosSubmitEvent
/peaqos_node/events/batch_submitpeaq_ros2_interfaces/srv/PeaqosBatchSubmitEvents
/events/validate runs locally: it computes the and checks the payload before you spend . /events/batch_submit goes through the peaq batch (0x...0805) so a multi-event submission is atomic on chain. 
# Validate locally
ros2 service call /peaqos_node/events/validate \
  peaq_ros2_interfaces/srv/PeaqosValidateEvent \
  "{machine_id: 1, event_type: 1, value: 1, timestamp: 1770000000, raw_data_hex: '0x', trust_level: 1, source_chain_id: 3338, source_tx_hash: '', metadata_hex: '0x7b7d'}"

# Submit one event
ros2 service call /peaqos_node/events/submit \
  peaq_ros2_interfaces/srv/PeaqosSubmitEvent \
  "{signer_address: '<MACHINE_EVM_ADDRESS>', machine_id: 1, event_type: 1, value: 1, timestamp: 1770000000, raw_data_hex: '0x', trust_level: 1, source_chain_id: 3338, source_tx_hash: '', metadata_hex: '0x7b7d'}"

# Atomic batch
ros2 service call /peaqos_node/events/batch_submit \
  peaq_ros2_interfaces/srv/PeaqosBatchSubmitEvents \
  "{signer_address: '<MACHINE_EVM_ADDRESS>', events_json: '[{\"machine_id\":1,\"event_type\":1,\"value\":1,\"timestamp\":1770000000,\"raw_data_hex\":\"0x\",\"trust_level\":1,\"source_chain_id\":3338,\"source_tx_hash\":\"\",\"metadata_hex\":\"0x7b7d\"}]'}"
For event field rules, see Events and SDK JS event validation.

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MCR queries

Hosted MCR API queries. Returned bodies are SDK JSON passthrough; operator-fleet results may include per-machine negative_flag and top-level pagination.
ServiceType
/peaqos_node/mcr/querypeaq_ros2_interfaces/srv/PeaqosQueryMcr
/peaqos_node/mcr/machinepeaq_ros2_interfaces/srv/PeaqosQueryMachine
/peaqos_node/mcr/operator_machinespeaq_ros2_interfaces/srv/PeaqosQueryOperatorMachines
ros2 service call /peaqos_node/mcr/query \
  peaq_ros2_interfaces/srv/PeaqosQueryMcr \
  "{did: 'did:peaq:<MACHINE_EVM_ADDRESS>'}"

ros2 service call /peaqos_node/mcr/machine \
  peaq_ros2_interfaces/srv/PeaqosQueryMachine \
  "{did: 'did:peaq:<MACHINE_EVM_ADDRESS>'}"

ros2 service call /peaqos_node/mcr/operator_machines \
  peaq_ros2_interfaces/srv/PeaqosQueryOperatorMachines \
  "{did: 'did:peaq:<OPERATOR_EVM_ADDRESS>'}"
The full HTTP API is documented under API Reference.

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Smart accounts

ERC-4337 machine accounts are deployed through MachineAccountFactory. Address prediction is deterministic (CREATE2 salt) and cheap; call address first, deploy second.
ServiceType
/peaqos_node/smart_account/addresspeaq_ros2_interfaces/srv/PeaqosGetSmartAccountAddress
/peaqos_node/smart_account/deploypeaq_ros2_interfaces/srv/PeaqosDeploySmartAccount
# Predict address (no tx)
ros2 service call /peaqos_node/smart_account/address \
  peaq_ros2_interfaces/srv/PeaqosGetSmartAccountAddress \
  "{signer_address: '<SIGNER_EVM_ADDRESS>', owner: '<OWNER_EVM_ADDRESS>', machine: '<MACHINE_EVM_ADDRESS>', daily_limit: '', salt: '0'}"

# Deploy
ros2 service call /peaqos_node/smart_account/deploy \
  peaq_ros2_interfaces/srv/PeaqosDeploySmartAccount \
  "{signer_address: '<SIGNER_EVM_ADDRESS>', owner: '<OWNER_EVM_ADDRESS>', machine: '<MACHINE_EVM_ADDRESS>', daily_limit: '', salt: '0'}"
daily_limit is kept on the service for backward compatibility. The current MachineAccountFactory ignores it, so an empty string is fine. Both calls require peaq_os.contracts.machine_account_factory (or MACHINE_ACCOUNT_FACTORY_ADDRESS) to be set.

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Bridge

ServiceType
/peaqos_node/bridge/nftpeaq_ros2_interfaces/srv/PeaqosBridgeNft
/peaqos_node/bridge/wait_arrivalpeaq_ros2_interfaces/srv/PeaqosWaitForBridgeArrival
ros2 service call /peaqos_node/bridge/nft \
  peaq_ros2_interfaces/srv/PeaqosBridgeNft \
  "{signer_address: '<OWNER_EVM_ADDRESS>', token_id: 1, source: 'peaq', destination: 'base', recipient: '<RECIPIENT_EVM_ADDRESS>', base_rpc_url: '', base_nft_address: '', options_hex: ''}"

ros2 service call /peaqos_node/bridge/wait_arrival \
  peaq_ros2_interfaces/srv/PeaqosWaitForBridgeArrival \
  "{dst_rpc_url: 'https://mainnet.base.org', dst_nft_address: '0xee8A521eA434b11F956E2402beC5eBfa753Babfa', token_id: 1, timeout: 900}"
Bridging has its own page: see Bridge for the full peaq to Base flow, gas requirements, and arrival polling.
Reverse Base to peaq bridging requires Base ETH on the signer wallet.

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Tips

  • Source ROS and the workspace before every session: source /opt/ros/<distro>/setup.bash && source install/setup.bash.
  • Stream logs in another terminal: tail -f /tmp/peaqos_node.log.
  • For batched onboarding flows, prefer /events/batch_submit over multiple /events/submit calls: single tx, lower fees.