runtime_integrity v0.3-alpha: ROS2 observer catches wheel slip and localization jumps via diagnostics

Two weeks after pivoting from an invasive hard-braking middleware, developer Zc_Liu has released runtime_integrity v0.3-alpha for ROS2. The package is a pure observer that runs alongside existing autonomy stacks, checking whether the physical robot actually moves consistently with the commands sent to /cmd_vel. It outputs execution-integrity state as standard ROS diagnostics (/diagnostics) without requiring a new dashboard, custom protocol, or any control authority. Key detection modes include wheel slip (commanded motion vs. odometry progress), localization jumps (sudden pose discontinuities from EKF/SLAM), and command-stream timing disturbances.

The tool is intentionally conservative: it does not modify base drivers, controllers, or Nav2 behavior trees. Instead, it surfaces residuals like totalResidual and cmdOdomResidual under diagnostic topics such as runtime_integrity/execution_integrity. This design makes it immediately compatible with existing visualization tools (Foxglove Studio, rqt_robot_monitor) and diagnostic aggregators. The developer is seeking feedback on whether it should remain a standalone observer, become a Nav2-adjacent module, or integrate into ros2_control, and how best to expose short-lived events like localization jumps without turning the observer into a controller.