---
title: Install so101-safety on Linux | Snap Store
description: Get the latest version of so101-safety for Linux - SO-101 protective-stop
  enforcement
url: https://snapcraft.io/so101-safety
---

# so101-safety

[Ubuntu Robotics Community (ubuntu-robotics-community)](https://snapcraft.io/publisher/ubuntu-robotics-community "View all snaps from Ubuntu Robotics Community (ubuntu-robotics-community)")

* [Ubuntu Robotics Community (ubuntu-robotics-community)](https://snapcraft.io/publisher/ubuntu-robotics-community "View all snaps from Ubuntu Robotics Community (ubuntu-robotics-community)")
* [Devices and IoT](https://snapcraft.io/search?categories=devices-and-iot)

latest/stable 0.1.0

Contact us about
[Snaps and IoT ›](https://snapcraft.io/about/contact-us)

Install latest/stable of so101-safety

---

**Install using the command line**

```
sudo snap install so101-safety
```

Don't have snapd? [Get set up for snaps](https://snapcraft.io/docs/installing-snapd).

---

### Package name

* so101-safety

---

### License

* unset

---

### Last updated

* 3 September 2026 - latest/stable
* 1 September 2026 - latest/edge

---

##### Report a Snap Store violation

* [Report this Snap](https://snapcraft.io/so101-safety#report-snap-modal)

---

* [Description](https://snapcraft.io/so101-safety#tab-description)
* [Security](https://snapcraft.io/so101-safety#tab-security)

#### SO-101 protective-stop enforcement

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`.

---

## Install so101-safety on your Linux distribution

Choose your Linux distribution to get detailed installation instructions. If yours is not shown, get more details on the [installing snapd documentation](https://snapcraft.io/docs/installing-snapd).

[### Arch Linux](https://snapcraft.io/install/so101-safety/arch)

[### CentOS](https://snapcraft.io/install/so101-safety/centos)

[### Debian](https://snapcraft.io/install/so101-safety/debian)

[### elementary OS](https://snapcraft.io/install/so101-safety/elementary)

[### Fedora](https://snapcraft.io/install/so101-safety/fedora)

[### KDE Neon](https://snapcraft.io/install/so101-safety/kde-neon)

[### Kubuntu](https://snapcraft.io/install/so101-safety/kubuntu)

[### Manjaro](https://snapcraft.io/install/so101-safety/manjaro)

[### Pop!\_OS](https://snapcraft.io/install/so101-safety/pop)

[### openSUSE](https://snapcraft.io/install/so101-safety/opensuse)

[### Red Hat Enterprise Linux](https://snapcraft.io/install/so101-safety/rhel)

[### Ubuntu](https://snapcraft.io/install/so101-safety/ubuntu)

[### Raspberry Pi](https://snapcraft.io/install/so101-safety/raspbian)