[mikets]

Vision processing can take a LONG time if you do not have the filtering parameters set correctly (i.e. generating way too many false positive targets). If vision processing takes too much time, it will prevent your main robot loop from "feeding" the watchdog (i.e. setting your motors) and hence causing the SafetyHelper to cut out the motors.

Before you enable the entire code doing vision processing as well as tele-operating/driving the robot, you probably want to disable safety and fully debug the vision processing code before you re-enable safety for driving.