actuator_get_status actuator_init actuator_isr_1khz apply_ctrl_get_state apply_ctrl_get_step_count apply_ctrl_init apply_ctrl_last_error apply_ctrl_step_50ms safety_mgr_apply_requested safety_mgr_get_state safety_mgr_init safety_mgr_release_requested safety_mgr_step_50ms switch_get_state switch_init switch_step_10ms