I think it's worth highlighting the recommendations stated:
> V. RECOMMENDATIONS FOR ROS 2
> (...)
> Given these core ingredients, we make the following
recommendations for ROS 2 based on our findings:
> (...)
> 1) Introduce strict value ranges into messages (II-B).
> (...)
> 2) Provide automatic subscription to new topics and mes-
sages in
rosbag
(III-B).
> (....)
> 3) Develop a better profiling environment
> (...)
> 4) Integrate best-known-state tracking and recovery (II-F)
> (...)
> 5) Introduce state introspection (II-D, II-F)
> (...)
> 6) Provide a safe mode (II-F)
> (...)
---
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