📦
Version0.1.0
Revision2
Size0.5 MB
Licenseunset
Confinementstrict
Basecore24

SO-101 protective-stop enforcement

Enforces the shared /safety/protectivestop (stdmsgs/Bool) contract on
the follower arm. If a node publishes the the stop signal (a depth or vision AI backend, a manual e-stop
topic, etc.), the follower arm stops following the leader holding the last commanded pose.
Runs as an always-on daemon.
Configure via snap set:

 snap set so101-safety mode=jtc 
 snap set so101-safety safety-stop-topic=/safety/protectivestop


 snap set so101-safety gate-input-topic=/safety/follower/armtrajectoryin
 snap set so101-safety gate-output-topic=/follower/armtrajectorycontroller/jointtrajectory
 snap set so101-safety joint-states-topic=/follower/jointstates


  snap set so101-safety ros-domain-id=0
 snap set so101-safety rmw-implementation=rmwfastrtpscpp


If running mode=jtc alongside so101-teleop, point so101-teleop's jtc-topic at this snap's gate-input-topic so the trajectory is routed
through the gate instead of straight at the controller:

 snap set so101-teleop jtc-topic=/safety/follower/armtrajectory_in


Check status with snap services so101-safety / snap logs so101-safety.

Update History

0.1.0 (2)
5 Nov 2026, 08:45 UTC

Published18 Aug 2026, 08:54 UTC

Last updated19 Aug 2026, 15:08 UTC

First seen5 Nov 2026, 08:45 UTC