In the meanwhile I summarized considerations about “Design by Contract” (which relates to input and output validation, could also be used for consistency checking on the node/nodelet level) and how it could be applied to ROS in one of my fun projects rosdbc - README.md. It didn’t reach “implementation phase”. Don’t assume any progress in implementation… I decided to retire that project and continue with a project in ROS2 whenever I find some time and motivation 
However the projects README.md is probably a shorter read than the thread.