The best thing to do, if you can, is to isolate all functional safety related hardware and software to a smaller and simpler subcomponent of your entire system.

The best thing to do, if you can, is to isolate all functional safety related hardware and software to a smaller and simpler subcomponent of your entire system. Then you can prove that no matter what ROS does, it cannot cause harm. This also makes it easier to be certify since your safety related functions are isolated and hopefully smaller and simpler!