I’ve just published a project announcement for runtime_integrity (formerly ros2_kinematic_guard) that focuses exactly on translating physical-execution divergence into structured, machine-readable causal evidence for Article 12/14 compliance.
It runs as a non-invasive middleware layer below Nav2 without altering the autonomy stack. I’d love to get your insights on the planned audit event schema and how it could interface with higher-level policy engines or governance frameworks: