As ROS2 seems to consider (functional) safety and security in the system design it's probably worth checking out the thesis [Design Patterns for Safety-Critical Embedded Systems](
https://d-nb.info/1007034963/34). The thesis recommends SW and SW/HW design patterns based on safety integrity level (SIL) requirements. The required SIL usually depends on the domain (e.g. avionics, medical, etc.) the system is used in, application specific risk estimations, etc. . The patterns are not limited to Embedded Systems but generic and can potentially be adapted to ROS2 on different levels (source code level, node level, collection of nodes implementing a "cross-cutting" feature). The reliability of some ROS2 core components could potentially be improved. I don't want to raise the question if and in case which ROS2 components should consider the design recommendations. However I think it could help a lot of people to point at this topic early to prevent from technical debt.
@vmayoral Probably interesting for SoM (H-ROS), HRIM as well as MARA.
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