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The ROS 2 workspace exposes several pub/sub channels in addition to the service APIs. Use this index to stitch blockchain events and storage flows into your autonomy stack.

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Command & Telemetry Topics

TopicTypeDirectionPurpose
peaq/storage/ingestpeaq_ros2_interfaces/msg/StorageIngestPublishSend telemetry or file CIDs to the storage bridge
peaq/storage/statuspeaq_ros2_interfaces/msg/StorageResultSubscribeTrack success/failure for each storage ingest
peaq/tx_statuspeaq_ros2_interfaces/msg/TxStatusSubscribeTransaction lifecycle updates for all peaq operations
peaq/eventspeaq_ros2_interfaces/msg/EventSubscribeRaw events emitted by peaq pallets

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StorageIngest Schema

string key
bool   is_file
string file_path
string content
string content_type
string metadata_json
  • Use is_file=true with file_path when pointing to local files that the bridge should upload to IPFS
  • Provide structured payloads via content (JSON) plus an optional metadata_json envelope for robot state, firmware versions, or mission identifiers

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StorageResult Schema

string key
string cid
string ipfs_url
string tx_hash
string status
string error
  • status transitions through PENDING, RETRYING, SUCCESS, or FAILED
  • Failed entries are also written to /tmp/storage_bridge_failures.jsonl so you can replay them later
See Verifiable Storage to add DID-backed authentication on top of these topics.