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ROS 1 really doesn't have any built-in "functional safety". Typically, this is handled below the level of ROS - for instance, a mobile robot which complies with ISO 13849 will typically use a safety laser scanner with a hardware safety controller (I've previously used a SICK S300 and FlexiSoft) and then have ROS do the high level navigation. As long as the high level navigation is working OK, you never "hit" the safety limits being enforced by the lower level hardware. Should something die in ROS, the functionally safe components below do their job as designed and certified. This also means that the ROS-level code can change more often as it is NOT part of the safety assessment.