Observe the running Pioneer-X state path without taking control.
Pioneer-X's public ESP32 firmware publishes wheel ticks and estimated pose over micro-ROS. This independent RLSOK reader subscribes to those two existing topics only. The project owner approved an earlier offline review, not a live run; physical use still requires their agreement.
Updated · RLSOK
Download the Pioneer-X observerA small step tied to the real platform
The reviewed Pioneer-X firmware at commit 39f67a0697f8b28669c26edfe5ca2124348756d7 publishes /wheel_ticks (std_msgs/msg/Int32MultiArray) and /posicion_estimada (geometry_msgs/msg/Point) from robot_esp32_node. The observer does not start micro-ROS, open the ESP32 connection, access SCADA, choose an algorithm or send motor commands.
Run only if the owner agrees and Pioneer-X is already operating during their normal work. Do not power, move or reconfigure it for RLSOK.
Download and capture once
The 24,074-byte ZIP has SHA-256 d2da81c5ed8656c144a831264a3e73110d0347d71d76d8a7f16a58e9d127af80. In an already-sourced ROS 2 environment, pass the actual Pioneer-X checkout used for that session. The output is a new JSON file; an existing output is never overwritten.
curl -fLO https://github.com/realitywarden/rlsok/releases/download/pioneer-status-observer-v1/rlsok-pioneer-status-observer-v1.zip echo 'd2da81c5ed8656c144a831264a3e73110d0347d71d76d8a7f16a58e9d127af80 rlsok-pioneer-status-observer-v1.zip' | sha256sum -c - unzip rlsok-pioneer-status-observer-v1.zip -d rlsok-pioneer-status-observer-v1 cd rlsok-pioneer-status-observer-v1 python3 experimental/composable-shadow/pioneer_status.py \ --source-root /path/to/pioneer-ros2-diff-drive \ --output pioneer-status.json
Keep the evidence boundary honest
A successful capture records one wheel-tick sample and one estimated-pose sample received within five seconds, unique reported ROS publishers, source checkout context and a digest. The messages have no source timestamp or device attestation. Only the owner can separately confirm a physical Pioneer-X session.
This does not identify the chassis or ESP32, verify flashed firmware or sensors, read the currently selected tracker settings, exercise the motor path, or authorize movement. No physical Pioneer-X result has been reported yet.
Sources and verification scope
Source code and guides describe implementation and setup. Release notes identify reported checks and their limits. Publication alone does not establish customer use or physical-robot validation.
Frequently asked questions
Does this start the ESP32 or select a tracking algorithm?
No. It only subscribes to two existing ROS state topics and never opens SCADA or publishes a motor command.
Does the JSON alone prove a physical run?
No. ROS endpoint metadata cannot authenticate the ESP32 or chassis. The owner must separately confirm the physical session.
Continue with the relevant guide
Try the local example without an application. For setup or integration help, you can also contact us.