When can the SA Module Fail

Here, we underline the conditions in which the SAM can fail in its operation:

• Using SAM does not preclude different software modules from communicating outside of the SAM infrastructure (for example, by using standard ROS publish / subscribe). If this is the case, then SAM cannot ensure that that communication is error-free nor that there will not be any feedback of errors between those modules;

• If different network nodes (i.e. the different ROS Masters) are not synchronized with respect to an external clock, then the timestamp information in the data contained in each SA Slot can be corrupted.