I can add a Failsafe or FailsafeHeartbeat to a graph node, but according to the documentation, these components don’t have any input or output, they only provide helper functions. In isaac/packages/segway/SegwayRmpDriver.cpp, the failsafe seems to be accessed via
failsafe_ = node()->getComponent<alice::Failsafe>();
then checked via
How can I do this same sort of thing in a python codelet?