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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

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Service Catalog

ServiceTypePurpose
/peaq_tether_node/wallet/createpeaq_ros2_interfaces/srv/TetherCreateWalletCreate a new EVM wallet address (mnemonic stored locally)
/peaq_tether_node/usdt/balancepeaq_ros2_interfaces/srv/TetherGetUsdtBalanceRead USDT balance for an address
/peaq_tether_node/usdt/transferpeaq_ros2_interfaces/srv/TetherTransferUsdtTransfer USDT from one local wallet address to another address
Use this index as a quick reference, then dive into the focused guides:

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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: 
source /opt/ros/humble/setup.bash
source install/setup.bash

ros2 run peaq_ros2_tether tether_node --ros-args \
  -p config.yaml_path:=/work/peaq_ros2_examples/config/peaq_robot.yaml