Enforces the shared /safety/protective_stop (std_msgs/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/protective_stop
snap set so101-safety gate-input-topic=/safety/follower/arm_trajectory_in
snap set so101-safety gate-output-topic=/follower/arm_trajectory_controller/joint_trajectory
snap set so101-safety joint-states-topic=/follower/joint_states
snap set so101-safety ros-domain-id=0
snap set so101-safety rmw-implementation=rmw_fastrtps_cpp
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/arm_trajectory_in
Check status with snap services so101-safety / snap logs so101-safety.
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Snaps are applications packaged with all their dependencies to run on all popular Linux distributions from a single build. They update automatically and roll back gracefully.
Snaps are discoverable and installable from the Snap Store, an app store with an audience of millions.
On Arch Linux, snap can be installed from the Arch User Repository (AUR). The manual build process is the Arch-supported install method for AUR packages, and you’ll need the prerequisites installed before you can install any AUR package. You can then install snap with the following:
git clone https://aur.archlinux.org/snapd.git
cd snapd
makepkg -si
Once installed, the systemd unit that manages the main snap communication socket needs to be enabled:
sudo systemctl enable --now snapd.socket
If AppArmor is enabled in your system, enable the service which loads AppArmor profiles for snaps:
sudo systemctl enable --now snapd.apparmor.service
To enable classic snap support, enter the following to create a symbolic link between /var/lib/snapd/snap and /snap:
sudo ln -s /var/lib/snapd/snap /snap
Either log out and back in again, or restart your system, to ensure snap’s paths are updated correctly.
To install so101-safety, simply use the following command:
sudo snap install so101-safety
Browse and find snaps from the convenience of your desktop using the snap store snap.
Interested to find out more about snaps? Want to publish your own application? Visit snapcraft.io now.