Capra_estop is a node that provide a service to toggle on and off a logical estop. The program listen for service call and then turn on or off the logical pin428.
The program use the library [https://github.com/clubcapra/JetsonXavierGPIO.git] to help the jetson talk to it's GPIO ports.
The program is listed as /capra_estop in the service list.