`assert(false)` is pronounced "this can never happen." It's reasonable to add a comment with /why/ this can never happen, but if that's all the comment would have said, a message adds no value.
Oh I agree, literally `assert(false, "This cannot happen")` is useless, but ensuring message is always there encourages something more like, `assert(false, "This implies the Foo is Barred, but we have the Qux to make sure it never is")`.
Ensuring a message encourages people to state the assumptions that are violated, rather than just asserting that their assumptions (which?) don't hold.
debug_assert!() (and it's equivalent in other languages, like C's assert with NDEBUG) is cursed. It states that you believe something to be true, but will take no automatic action if it is false; so you must implement the fallback behavior if your assumption is false manually (even if that fallback is just fallthrough). But you can't /test/ that fallback behavior in debug builds, which means you now need to run your test suite(s) in both debug and release build versions. While this is arguably a good habit anyway (although not as good a habit as just not having separate debug and release builds), deliberately diverging behavior between the two, and having tests that only work on one or the other, is pretty awful.
For example, I’m pretty sure some complex invariant holds. Checking it is expensive, and I don’t want to actually check the invariant every time this function runs in the final build. However, if that invariant were false, I’d certainly like to know that when I run my unit tests.
Using debug_assert is a way to do this. It also communicates to anyone reading the code what the invariants are.
If all I had was assert(), there’s a bunch of assertions I’d leave out of my code because they’re too expensive. debug_assert lets me put them in without paying the cost.
And yes, you should run unit tests in release mode too.
There is no recovery. When an invariant is violated, the system is in a corrupted state. Usually the only sensible thing to do is crash.
If there's a known bug in a program, you can try and write recovery code to work around it. But its almost always better to just fix the bug. Small, simple, correct programs are better than large, complex, buggy programs.