What is RLSOK?
RLSOK is Robot Software Execution Authorization. Immediately before ROS 2 controller dispatch, it rechecks whether the exact approved robot-software release, robot, controller, configuration, required runtime capabilities, and a short-lived Permit still authorize the next command, then records Evidence. It closes the authorization gap between deployment and execution; it does not decide whether physical motion is safe.
Updated · RLSOK
Choose a Shadow evaluation pathThe problem: deployment is not execution
The authorization gap between deployment and execution is the period in which an artifact can change, approval can be revoked, authority can expire, or robot and controller identity can drift after CI/CD has deployed software but before a controller receives a command.
CI/CD → deployment → RLSOK execution authorization → ROS 2 controller
What RLSOK checks before dispatch
- Exact release and executable-policy hashes match the approved content.
- Approval is current, the release is not revoked, and execution authority has not expired.
- The requested action, robot or device, and controller configuration match the Permit.
- The short-lived Permit is authentic, still valid, and has not already been consumed.
What RLSOK produces
RLSOK writes Evidence for allowed, blocked, approval-required, failed, and Shadow decisions. Evidence identifies the release and bindings, explains the decision, distinguishes no signal from attempted dispatch, and is hash-linked for later verification.
What RLSOK does not do
- It is not functional-safety software, an E-stop, a safety PLC, or a certified robot controller.
- It is not a motion planner, hard real-time control loop, or controller replacement.
- It does not replace SROS2 identity, transport security, or ROS 2 access control.
- It is not generic CI/CD and does not claim universal robot support.
Current runtime and reference integration
The published stable robot Runtime is v1.4.5. Its documented reference is Universal Robots UR5e with the official Universal Robots ROS 2 Driver on ROS 2 Jazzy. The support matrix separates official-driver mock-hardware and DDS checks from physical-hardware validation, which remains pending.
RLSOK Local Check 1.5.0 offers local interface configuration, source-workspace comparisons and saved-configuration review. Try the included example on Ubuntu, see which setting changed, then choose a guide for your own project. No robot or account is needed for the example. It does not replace the stable runtime or establish Humble, private-interface or physical-robot compatibility. Windows control-plane versions are numbered separately; use the download page for the applicable installation path.
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.
Continue with the relevant guide
Try the local example without an application. For setup or integration help, you can also contact us.