ROSRV is a runtime verification framework for the Robot Operating System (ROS). ROS is an open-source framework for robot software development, providing operating system-like functionality on heterogeneous computer clusters. With the wide adoption of ROS, its safety and security are becoming an important problem. ROSRV integrates seamlessly with ROS and works as a transparent monitoring infrastructure that intercepts the commands and messages passing through the system and performs monitoring actions upon events of interest. Safety and security properties can be defined in a formal specification language, and are ensured by monitors generated automatically from specifications.
Watch how the monitors interact with the robot LandShark :
 The LandShark UGV is a product of Black-i Robotics