Cyber Physical Systems (CPS) are transforming the way we interact with the physical world around us. However, centralised approaches for CPS systems are not capable of addressing the unique challenges of CPS due to the complexity, constraints, and dynamic nature of the interactions. To realize the true potential of CPS, a decentralized approach that takes into account these unique features is required. Recently, blockchain-based solutions have been proposed to address CPS challenges. Yet, applying blockchain for diverse CPS domains is not straightforward and has its own challenges. In this talk, we share our experiences in applying blockchain technology for CPS with an aim to provide insights and highlight the challenges and future opportunities.