Jyn – She is an orphan… ripped away from her parents by the empire… and then abandoned by the republic. She is left a drift to go “where’er so” with no one to claim her and no one to belong to. It is no small thing when Cassian says, "Welcome home."
Saw – The one who left Jyn last… a fighter of the good fight who has become more machine than man (a tool of violence)… one who has wrestled with monsters and become a forceless, rebel version of Vader… and he is tired of what he is.
Cassian – He is also tired of himself, a spy/soldier who has convinced himself that the lives he has killed and sacrificed (like his contact early on in the movie) are the price of achieving the good, but he knows it has cost him. Not just in relationships and loved ones who are gone (alluded to at one point), but in his own peace of mind. He fears he is becoming a non-questioning tool. He fears he is becoming a thoughtless killer, a storm trooper, and his honorably, desperate heart must seek something sacrificial to feel redeemed and at home with himself. Maybe when he says, "Welcome home" to Jyn, he is actually talking to himself.
Chirrut and Baze – Two guards from a fallen temple, men who have devoted themselves to preserving a place of worship to the force only to see it crumble to ruin. One man keeps faith, believing that there is more to the force than a building. He stays in the place where pilgrims have come. His blind faith keeps him watching for where the light will lead. The other man loses faith (it burns away from him in a blaze... maybe a "baze") and has been replaced with anger and questions. It is his fondness for his blindly faithful friend that will not let him depart though... So he stays with his friend and it will finally be because of his devotion (perhaps faithfulness) to Chirrut and because of Chirrut's trust in the force and sacrifice that Baze will come around to see belief at the end once more. In such a religious frame of mind... what greater love is there than this, but that a man lay down his life for his friends.
Galen – Of course, a man's love for his daughter is nothing to trifle with either. Galen, however, is a man caught betwixt and between, a genius who will do anything for his daughter, even build the monster and let her depart from his heart if it means keeping her safe… In such an impossible place, he will keep his sanity by not recalling her (although he ends up inadvertently and literally recalling her anyway). He will also keep his sanity by creating a flaw in his design… a small chink in the armor where an arrow may yet find the mark… but he will not be able to shoot it… or see the death star become star dust. He is a man of pain... and hope.
Bodhi –Perhaps it is because he is man conflicted… a man of pain too… caught between his conscience and what he is told is his duty… that causes Galen to recognize a potential ally. Where Galen learns how to lie and weave a hidden plan in secret that keeps a small light lit in a hidden cave, Bodhi is not so able to hide the truth and he is cracking under it. Saw’s interrogation of him, compelling the truth from his mind, leaves him addled, but he has been squeezed by a great pressure for some time. He has come to recognize, the empire he serves is not security and peace. It is control and tyranny.

TLDR: I think the heroes in this movie are worthy of care. They are people struggling against the impossible night that is everywhere (and within) and each one is deciding it is better to die seeking light (sacrificial love) than to live under the dark. That is a truth ancient and hard and yet so obvious even the emotionless droid seems to get it.