@gavanderhoorn - That's what I'm trying to do, something like ROS -> ROS Safety package -> Safety protocol (ex. CIPSafe)-> low level protocol (ex. Ethernet/IP) -> Safety monitoring subsystem Do you know of any open source examples of this type of architecture? --- [Visit Topic](https://discourse.ros.org/t/using-safety-protocols-with-ros/5561/5) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: