@gavanderhoorn - Maybe I asked the wrong question. You mentioned above you have seen some applications that separate safety from the rest of the ROS system, can you point me to an example you have seen? Maybe I am making this more complex than needed. Thanks, Matt --- [Visit Topic](https://discourse.ros.org/t/using-safety-protocols-with-ros/5561/7) 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: