Check the live StepIt path, including whether it is still in dummy mode.
StepIt's public sample starts with fake hardware. Its /joint_states topic alone cannot establish a real motor connection. This separate RLSOK reader subscribes to /joint_states and the live /robot_description, rejects use_dummy=true, and sends no command.
Updated · RLSOK
Download the StepIt observerOnly during a normal owner-approved session
The StepIt maintainer identified the existing joint_state_broadcaster topic. Source review of StepIt commit 21a7907688d1358f1719d09be9d4403698b32b4f also found use_dummy=true in the public sample. Do not start, power, move, or reconfigure the robot for this check.
The reader opens no USB or serial port, creates no command publisher or service client, and does not launch StepIt. It only subscribes to two existing ROS topics.
Download and capture once
The 25,014-byte ZIP has SHA-256 bc63276ae7c19589afdb5148d6e639013b9e21e23b2c65e7342b0795356a62ce. Source the ROS 2 environment already used by the running StepIt session, then pass the actual StepIt checkout root. If dummy mode is still active, no observation file is written; do not change hardware mode solely for RLSOK.
curl -fLO https://github.com/realitywarden/rlsok/releases/download/stepit-status-observer-v1/rlsok-stepit-status-observer-v1.zip echo 'bc63276ae7c19589afdb5148d6e639013b9e21e23b2c65e7342b0795356a62ce rlsok-stepit-status-observer-v1.zip' | sha256sum -c - unzip rlsok-stepit-status-observer-v1.zip -d rlsok-stepit-status-observer-v1 cd rlsok-stepit-status-observer-v1 python3 experimental/composable-shadow/stepit_status.py \ --source-root /path/to/stepit \ --output stepit-status.json
What the result actually establishes
A successful result shows one ROS joint-state message beside a live robot description declaring the non-dummy StepIt hardware plugin, with a unique joint-to-motor-ID mapping. It also records the selected source checkout, ROS environment, publisher endpoints and a digest.
That is not independent authentication of a Teensy, motor, USB device, firmware, or running binary. The owner must separately confirm that the capture occurred during a real-motor session. No physical StepIt result has been reported yet, and this observation does not authorize motion.
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
Is a /joint_states message proof of physical hardware?
No. The public StepIt sample publishes it with use_dummy=true. The reader rejects that mode, and even non-dummy mode still needs the owner's physical-session confirmation.
Does the observer touch the controller or serial port?
No. It subscribes to existing ROS topics only. It does not open serial, launch, switch controllers, or send a motion or stop command.
Continue with the relevant guide
Try the local example without an application. For setup or integration help, you can also contact us.