If you refer to situations where a car did not arrive at the grid pre-race, there are set procedures for this. Specifically, FIA sporting regulations section 44.
30 minutes before the scheduled start of the formation lap the end of the pit lane will be closed and a second warning signal will be given. Any car which is still in the pit lane can start from the end of the pit lane provided it got there under its own power.
This means if a car did not leave the garage to get to the grid 30 minutes before formation lap starts, it will be required to start from the pitlane, as the pitlane exit closes at that time.
If the car had failures before or during the formation lap, usually the start will be aborted and another formation lap will start. The failed car can be attempted to restart, rejoin the race, and start from the pitlane. This procedure is defined in sporting regulations section 45.1.
In that specific Melbourne 2017 case, Dani Ric did get sent out on lap 2, with no expectations from the team.