ROS 2 service catalog

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.

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.

Service	Type
`/peaqos_node/wallet/create`	`peaq_ros2_interfaces/srv/PeaqosCreateWallet`
`/peaqos_node/wallet/list`	`peaq_ros2_interfaces/srv/PeaqosListWallets`
`/peaqos_node/wallet/get`	`peaq_ros2_interfaces/srv/PeaqosGetWallet`
`/peaqos_node/wallet/delete`	`peaq_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.

Gas Station

onboarding for fresh machine wallets. 2FA codes are request-only and should not be logged.

Service	Type
`/peaqos_node/faucet/setup_2fa`	`peaq_ros2_interfaces/srv/PeaqosSetupFaucet2FA`
`/peaqos_node/faucet/confirm_2fa`	`peaq_ros2_interfaces/srv/PeaqosConfirmFaucet2FA`
`/peaqos_node/wallet/fund`	`peaq_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.

Registration

Service	Type
`/peaqos_node/machine/register`	`peaq_ros2_interfaces/srv/PeaqosRegisterMachine`
`/peaqos_node/agent/register`	`peaq_ros2_interfaces/srv/PeaqosRegisterAgent`
`/peaqos_node/machine/register_for`	`peaq_ros2_interfaces/srv/PeaqosRegisterFor`
`/peaqos_node/agent/register_for`	`peaq_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.

Machine NFT

Service	Type
`/peaqos_node/nft/mint`	`peaq_ros2_interfaces/srv/PeaqosMintNft`
`/peaqos_node/nft/token_id_of`	`peaq_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}"

DID attributes

Service	Type
`/peaqos_node/did/read_attribute`	`peaq_ros2_interfaces/srv/PeaqosReadDidAttribute`
`/peaqos_node/did/write_machine_attributes`	`peaq_ros2_interfaces/srv/PeaqosWriteMachineDidAttributes`
`/peaqos_node/did/write_proxy_attributes`	`peaq_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]}"

Events

Service	Type
`/peaqos_node/events/validate`	`peaq_ros2_interfaces/srv/PeaqosValidateEvent`
`/peaqos_node/events/submit`	`peaq_ros2_interfaces/srv/PeaqosSubmitEvent`
`/peaqos_node/events/batch_submit`	`peaq_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.

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.

Service	Type
`/peaqos_node/mcr/query`	`peaq_ros2_interfaces/srv/PeaqosQueryMcr`
`/peaqos_node/mcr/machine`	`peaq_ros2_interfaces/srv/PeaqosQueryMachine`
`/peaqos_node/mcr/operator_machines`	`peaq_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.

Smart accounts

ERC-4337 machine accounts are deployed through MachineAccountFactory. Address prediction is deterministic (CREATE2 salt) and cheap; call address first, deploy second.

Service	Type
`/peaqos_node/smart_account/address`	`peaq_ros2_interfaces/srv/PeaqosGetSmartAccountAddress`
`/peaqos_node/smart_account/deploy`	`peaq_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.

Bridge

Service	Type
`/peaqos_node/bridge/nft`	`peaq_ros2_interfaces/srv/PeaqosBridgeNft`
`/peaqos_node/bridge/wait_arrival`	`peaq_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.

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.

​Wallets

​Gas Station

​Registration

​Machine NFT

​DID attributes

​Events

​MCR queries

​Smart accounts

​Bridge

​Tips

Wallets

Gas Station

Registration

Machine NFT

DID attributes

Events

MCR queries

Smart accounts

Bridge

Tips