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The growing number of applications in Cyber-Physical Systems (CPS) involving different types of robots while maintaining interoperability and trust is an ongoing challenge faced by traditional centralized systems. This paper presents what is, to the best of our knowledge, the first integration of the Robotic Operating System (ROS) with the Ethereum blockchain using physical robots. We implement a specialized smart contract framework called “Swarm Contracts” that rely on blockchain technology in real-world applications for robotic agents with human interaction to perform collaborative tasks while ensuring trust by motivating the agents with incentives using a token economy with a self-governing structure. The use of open-source technologies, including robot hardware platforms such as TurtleBot3, Universal Robot arm, and ROS, enables the ability to connect a wide range of robot types to the framework we propose. Going beyond simulations, we demonstrate the robustness of the proposed system in real-world conditions with actual hardware robots.