[TomCC7]

Unused old rich message classes, obsolete interoperability implementations and the root Python dimos-lcm dependency are removed after consumers migrate. Raw LCM transport remains intentionally. This is partial retirement: the proprietary M20 onboard DrDDS bridge still uses the old generated message repository and cannot be declared migrated without its ABI-compatible AArch64 SDK/toolchain.

Base: #4364. This is layer 7/7, replacing the combined draft #4257 through the user-approved split. Original PR1–3 and the old feat/cdr-runtime-cutover branch/history are preserved. Reassembly uses selected files/hunks and forward merges, not a claim that the original commits cleanly cherry-pick.

Published HEAD: 060d4e13f32b76360c0905981967fe22f40a6539.

Validation: 17 authoring and 97 offline runtime tests passed (4 LCM-named cases deselected); native CMake archive/Cargo crate built offline and relocated package acceptance passed; lock and hooks passed. The original publication checkpoint matched preserved complete reference cb98281 (tree 28ff1e5e6fbe0e95400e845770dce3936f553ac0). Subsequent differences are explicitly limited to the approved two-tutorial documentation, its validation/workflow changes, the shared CDR reference test dependency/lock, the shared CDR reference test dependency/lock, the shared CDR reference test dependency/lock, and four import-formatting fixes from autofix; no production API changes were introduced. GitHub CI is pending.

This remains a proposal with a deliberate old-message API/wire break. CDR replaces encoding; LCM/Zenoh remain transports. No old-recording fallback is promised. No merge or package registry release is requested. External gates remain M20 SDK, host multicast, Foxglove sign-in and human/full-pose visual acceptance. Benchmarks have not been waived or weakened.

Published replacement chain: #4247 → #4252 → #4254 → #4362 → #4363 → #4364 → #4365. Preserved full reference: #4257 at cb982817bde248baa70a6fa69cc9ecc275c43707.

Tutorial follow-up: the checkout workflow is documented in docs/development/messages-in-repository.md; the installed-runtime/custom-project workflow is in docs/development/messages-external-project.md (runtime layer onward); both share message-reference.md. Matching review wheels are required; pip does not resolve uv-only local sources. Clean isolated canonical .msg addition→uv build→wheel install→value/codec checks passed in 112 seconds without installing the DimOS runtime. Existing isolated external source/wheel/sdist/editable acceptance and exact three-language coordinator evidence are retained; embedded C++ includes are now checked correctly. Required toolchains, SDK artifacts and harness acquisition are explicit.

Initial authoring CI exposed a premature root Rust workspace join (lock/Nix source mismatch) and a cold docs build missing Fast CDR. The generated crate remains standalone in authoring and joins the root workspace at runtime cutover; the existing Fast CDR setup now precedes package installation. Locks/assertions/gates were not relaxed. New exact-HEAD CI remains pending.

Authoring namespace test runner now invokes python -m pytest so a clean checkout imports the lightweight message namespace; 11 focused project tests passed. Self-hosted setup now explicitly installs CMake before building Fast CDR, and rosbags==0.11.0 and mcap>=1.2.0 are declared in the shared test group with its locked dependency; eight focused ownership/MCAP cases and hooks passed. Exact updated-head checks remain pending.

Superseded by naming-only replacement #4371. Exact commit 060d4e13f32b76360c0905981967fe22f40a6539, source tree and parent-relative diff are unchanged.

Verified native seven-layer stack #4372: #4247 → #4366 → #4367 → #4368 → #4369 → #4370 → #4371. Stack: #4247

All branches use cc/ and the ordered PR bases preserve the prior commit ancestry. Old branches/history are retained. Replacement PR checks are pending and prior CI retains its exact SHA/run/ref provenance. No merge, force push or release.

[codecov]

❌ 5 Tests Failed:

Tests completed	Failed	Passed	Skipped
6367	5	6362	94

View the top 3 failed test(s) by shortest run time

::dimos.navigation.nav_3d.mls_planner.utils.test_plan_rrd

Stack Traces | 0s run time

ImportError while importing test module '.../mls_planner/utils/test_plan_rrd.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../mapping/ray_tracing/voxel_map.py:20: in <module>
    from dimos_voxel_ray_tracing import VoxelRayMapper  # noqa: F401  (re-exported)
E   ModuleNotFoundError: No module named 'dimos_voxel_ray_tracing'

The above exception was the direct cause of the following exception:
.../mls_planner/utils/test_plan_rrd.py:24: in <module>
    from dimos.navigation.nav_3d.mls_planner.utils.plan_rrd import _log_odometry, _TfSync
.../mls_planner/utils/plan_rrd.py:34: in <module>
    from dimos.mapping.ray_tracing.transformer import RayTraceMap
.../mapping/ray_tracing/transformer.py:23: in <module>
    from dimos.mapping.ray_tracing.voxel_map import VoxelRayMapper
.../mapping/ray_tracing/voxel_map.py:22: in <module>
    raise ImportError(
E   ImportError: dimos_voxel_ray_tracing is not built. Run: uv run maturin develop --release --uv -m .../rust/py/Cargo.toml

dimos.mapping.dim_slam.test_dim_odom_replay::test_dim_odom_fusion_replay

Stack Traces | 0.021s run time

def test_dim_odom_fusion_replay():
        """IMU + wheel odometry through OdometryFusion, twice, identically."""
        db_path = str(get_data(FUSION_SNIPPET))
>       first = _replay_fusion(db_path)

db_path    = '.../dimos/data/alfred_fusion_short.db'

.../mapping/dim_slam/test_dim_odom_replay.py:213: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../mapping/dim_slam/test_dim_odom_replay.py:147: in _replay_fusion
    base_from_imu = _tf_lookup(store)("base_link", IMU_FRAME)
        db_path    = '.../dimos/data/alfred_fusion_short.db'
        store      = <dimos.memory.store.sqlite.SqliteStore object at 0x75eff6b6b680>
.../mapping/dim_slam/test_dim_odom_replay.py:73: in _tf_lookup
    tf = StreamTF.from_store(store)
        store      = <dimos.memory.store.sqlite.SqliteStore object at 0x75eff6b6b680>
dimos/memory/tf.py:60: in from_store
    recorded = tf_stream(store, stream)
        cls        = <class 'dimos.memory.tf.StreamTF'>
        store      = <dimos.memory.store.sqlite.SqliteStore object at 0x75eff6b6b680>
        stream     = 'tf'
dimos/memory/tf.py:38: in tf_stream
    return cast("Stream[TFMessage]", store.stream(stream, TFMessage))
        store      = <dimos.memory.store.sqlite.SqliteStore object at 0x75eff6b6b680>
        stream     = 'tf'
.../memory/store/base.py:197: in stream
    backend = self._create_backend(name, payload_type, **resolved)
        name       = 'tf'
        overrides  = {}
        payload_type = <class 'dimos_generated.tf2_msgs.msg.TFMessage'>
        resolved   = {'eager_blobs': False, 'must_exist': True, 'page_size': 256, 'path': '.../dimos/data/alfred_fusion_short.db'}
        self       = <dimos.memory.store.sqlite.SqliteStore object at 0x75eff6b6b680>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.memory.store.sqlite.SqliteStore object at 0x75eff6b6b680>
name = 'tf', payload_type = <class 'dimos_generated.tf2_msgs.msg.TFMessage'>
config = {'eager_blobs': False, 'must_exist': True, 'page_size': 256, 'path': '.../dimos/data/alfred_fusion_short.db'}
stored = {'blob_store': {'class': 'dimos.memory.blobstore.sqlite.SqliteBlobStore', 'config': {'path': None}}, 'codec_id': 'lcm', 'eager_blobs': False, 'notifier': {'class': 'dimos.memory.notifier.subject.SubjectNotifier', 'config': {}}, ...}
actual_module = 'dimos_generated.tf2_msgs.msg.TFMessage'

    def _create_backend(
        self, name: str, payload_type: type[Any] | None = None, **config: Any
    ) -> Backend[Any]:
        validate_identifier(name)
    
        stored = self._registry.get(name)
    
        if stored is not None:
            # Load path: validate type, assemble from stored config
            if payload_type is not None:
                actual_module = f"{payload_type.__module__}.{payload_type.__qualname__}"
                if actual_module != stored["payload_module"]:
>                   raise ValueError(
                        f"Stream {name!r} was created with type {stored['payload_module']}, "
                        f"but opened with {actual_module}"
                    )
E                   ValueError: Stream 'tf' was created with type dimos.msgs.tf2_msgs.TFMessage.TFMessage, but opened with dimos_generated.tf2_msgs.msg.TFMessage

__class__  = <class 'dimos.memory.store.sqlite.SqliteStore'>
actual_module = 'dimos_generated.tf2_msgs.msg.TFMessage'
config     = {'eager_blobs': False, 'must_exist': True, 'page_size': 256, 'path': '.../dimos/data/alfred_fusion_short.db'}
name       = 'tf'
payload_type = <class 'dimos_generated.tf2_msgs.msg.TFMessage'>
self       = <dimos.memory.store.sqlite.SqliteStore object at 0x75eff6b6b680>
stored     = {'blob_store': {'class': 'dimos.memory.blobstore.sqlite.SqliteBlobStore', 'config': {'path': None}}, 'codec_id': 'lcm', 'eager_blobs': False, 'notifier': {'class': 'dimos.memory.notifier.subject.SubjectNotifier', 'config': {}}, ...}

.../memory/store/sqlite.py:161: ValueError

dimos.teleop.hosted.test_map_compress::test_costmap_rate_gated

Stack Traces | 0.746s run time

module = <dimos.teleop.hosted.map_compress.MapCompressModule object at 0x7fbb4f3d4bf0>

    def test_costmap_rate_gated(module: MapCompressModule) -> None:
        module._on_costmap(_occupancy([[0, 0]]))
        first = len(module.map_out.publish.call_args_list)
        module._on_costmap(_occupancy([[0, 0]]))  # immediately again → gated out
>       assert len(module.map_out.publish.call_args_list) == first
E       assert 2 == 1
E        +  where 2 = len([call(b'{"type":"map","fmt":"png","w":2,"h":1,"res":0.10000000149011612,"origin":[0.0,0.0],"stamp":0.0,"png_b64":"iVBORw0KGgoAAAANSUhEUgAAAAIAAAABCAYAAAD0In+KAAAAD0lEQVQIHWOUs3L5zwAEAAkrAZ0U7a2zAAAAAElFTkSuQmCC"}'),\n call(b'{"type":"map","fmt":"png","w":2,"h":1,"res":0.10000000149011612,"origin":[0.0,0.0],"stamp":0.0,"png_b64":"iVBORw0KGgoAAAANSUhEUgAAAAIAAAABCAYAAAD0In+KAAAAD0lEQVQIHWOUs3L5zwAEAAkrAZ0U7a2zAAAAAElFTkSuQmCC"}')])
E        +    where [call(b'{"type":"map","fmt":"png","w":2,"h":1,"res":0.10000000149011612,"origin":[0.0,0.0],"stamp":0.0,"png_b64":"iVBORw0KGgoAAAANSUhEUgAAAAIAAAABCAYAAAD0In+KAAAAD0lEQVQIHWOUs3L5zwAEAAkrAZ0U7a2zAAAAAElFTkSuQmCC"}'),\n call(b'{"type":"map","fmt":"png","w":2,"h":1,"res":0.10000000149011612,"origin":[0.0,0.0],"stamp":0.0,"png_b64":"iVBORw0KGgoAAAANSUhEUgAAAAIAAAABCAYAAAD0In+KAAAAD0lEQVQIHWOUs3L5zwAEAAkrAZ0U7a2zAAAAAElFTkSuQmCC"}')] = <MagicMock name='publish' id='140442457596192'>.call_args_list
E        +      where <MagicMock name='publish' id='140442457596192'> = <dimos.core.stream.Out object at 0x7fbb4f3d5610>.publish
E        +        where <dimos.core.stream.Out object at 0x7fbb4f3d5610> = <dimos.teleop.hosted.map_compress.MapCompressModule object at 0x7fbb4f3d4bf0>.map_out

first      = 1
module     = <dimos.teleop.hosted.map_compress.MapCompressModule object at 0x7fbb4f3d4bf0>

.../teleop/hosted/test_map_compress.py:101: AssertionError

dimos.mapping.dim_slam.test_dim_odom_replay::test_dim_odom_stereo_replay

Stack Traces | 1.37s run time

def test_dim_odom_stereo_replay():
        """The same recording twice through dim_odom gives the same trajectory."""
        db_path = str(get_data(SNIPPET))
>       first = _replay_trajectory(db_path)

db_path    = '.../dimos/data/alfred_stereo_short.db'

.../mapping/dim_slam/test_dim_odom_replay.py:198: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../mapping/dim_slam/test_dim_odom_replay.py:110: in _replay_trajectory
    tf=_tf_lookup(store),
        db_path    = '.../dimos/data/alfred_stereo_short.db'
        store      = <dimos.memory.store.sqlite.SqliteStore object at 0x75eea36fbdd0>
.../mapping/dim_slam/test_dim_odom_replay.py:73: in _tf_lookup
    tf = StreamTF.from_store(store)
        store      = <dimos.memory.store.sqlite.SqliteStore object at 0x75eea36fbdd0>
dimos/memory/tf.py:60: in from_store
    recorded = tf_stream(store, stream)
        cls        = <class 'dimos.memory.tf.StreamTF'>
        store      = <dimos.memory.store.sqlite.SqliteStore object at 0x75eea36fbdd0>
        stream     = 'tf'
dimos/memory/tf.py:38: in tf_stream
    return cast("Stream[TFMessage]", store.stream(stream, TFMessage))
        store      = <dimos.memory.store.sqlite.SqliteStore object at 0x75eea36fbdd0>
        stream     = 'tf'
.../memory/store/base.py:197: in stream
    backend = self._create_backend(name, payload_type, **resolved)
        name       = 'tf'
        overrides  = {}
        payload_type = <class 'dimos_generated.tf2_msgs.msg.TFMessage'>
        resolved   = {'eager_blobs': False, 'must_exist': True, 'page_size': 256, 'path': '.../dimos/data/alfred_stereo_short.db'}
        self       = <dimos.memory.store.sqlite.SqliteStore object at 0x75eea36fbdd0>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.memory.store.sqlite.SqliteStore object at 0x75eea36fbdd0>
name = 'tf', payload_type = <class 'dimos_generated.tf2_msgs.msg.TFMessage'>
config = {'eager_blobs': False, 'must_exist': True, 'page_size': 256, 'path': '.../dimos/data/alfred_stereo_short.db'}
stored = {'blob_store': {'class': 'dimos.memory.blobstore.sqlite.SqliteBlobStore', 'config': {'path': None}}, 'codec_id': 'lcm', 'eager_blobs': False, 'notifier': {'class': 'dimos.memory.notifier.subject.SubjectNotifier', 'config': {}}, ...}
actual_module = 'dimos_generated.tf2_msgs.msg.TFMessage'

    def _create_backend(
        self, name: str, payload_type: type[Any] | None = None, **config: Any
    ) -> Backend[Any]:
        validate_identifier(name)
    
        stored = self._registry.get(name)
    
        if stored is not None:
            # Load path: validate type, assemble from stored config
            if payload_type is not None:
                actual_module = f"{payload_type.__module__}.{payload_type.__qualname__}"
                if actual_module != stored["payload_module"]:
>                   raise ValueError(
                        f"Stream {name!r} was created with type {stored['payload_module']}, "
                        f"but opened with {actual_module}"
                    )
E                   ValueError: Stream 'tf' was created with type dimos.msgs.tf2_msgs.TFMessage.TFMessage, but opened with dimos_generated.tf2_msgs.msg.TFMessage

__class__  = <class 'dimos.memory.store.sqlite.SqliteStore'>
actual_module = 'dimos_generated.tf2_msgs.msg.TFMessage'
config     = {'eager_blobs': False, 'must_exist': True, 'page_size': 256, 'path': '.../dimos/data/alfred_stereo_short.db'}
name       = 'tf'
payload_type = <class 'dimos_generated.tf2_msgs.msg.TFMessage'>
self       = <dimos.memory.store.sqlite.SqliteStore object at 0x75eea36fbdd0>
stored     = {'blob_store': {'class': 'dimos.memory.blobstore.sqlite.SqliteBlobStore', 'config': {'path': None}}, 'codec_id': 'lcm', 'eager_blobs': False, 'notifier': {'class': 'dimos.memory.notifier.subject.SubjectNotifier', 'config': {}}, ...}

.../memory/store/sqlite.py:161: ValueError

dimos.e2e_tests.test_dimsim_spatial_memory::test_go_to_the_bed

Stack Traces | 331s run time

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x75eea1fc5430>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x75eea19eede0>
wait_for_system_ready = <function wait_for_system_ready.<locals>.wait at 0x75eea19ed6c0>
human_input = <function human_input.<locals>.send_human_input at 0x75eea19ef7e0>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x75efd85cbbf0>
explore_house = <function explore_house.<locals>.explore at 0x75eea19ee700>

    @pytest.mark.self_hosted_large
    def test_go_to_the_bed(
        lcm_spy, start_blueprint, wait_for_system_ready, human_input, dim_sim, explore_house
    ) -> None:
        start_blueprint(
            "run",
            "unitree-go2-agentic",
            simulator="dimsim",
        )
        wait_for_system_ready(timeout=1200.0)
    
        explore_house()
    
        human_input("go to the bed")
    
>       lcm_spy.wait_until_odom_position(-3.567, -1.332, threshold=2, timeout=180)

dim_sim    = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x75efd85cbbf0>
explore_house = <function explore_house.<locals>.explore at 0x75eea19ee700>
human_input = <function human_input.<locals>.send_human_input at 0x75eea19ef7e0>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x75eea1fc5430>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x75eea19eede0>
wait_for_system_ready = <function wait_for_system_ready.<locals>.wait at 0x75eea19ed6c0>

dimos/e2e_tests/test_dimsim_spatial_memory.py:33: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/lcm_spy.py:191: in wait_until_odom_position
    self.wait_for_message_result(
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x75eea1963420>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x75eea1fc5430>
        threshold  = 2
        timeout    = 180
        x          = -3.567
        y          = -1.332
dimos/e2e_tests/lcm_spy.py:177: in wait_for_message_result
    wait_until(
        event      = <threading.Event at 0x75eea0902750: unset>
        fail_message = 'Failed to get to position x=-3.567, y=-1.332'
        listener   = <function LcmSpy.wait_for_message_result.<locals>.listener at 0x75eea19632e0>
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x75eea1963420>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x75eea1fc5430>
        timeout    = 180
        topic      = '/odom#geometry_msgs/msg/PoseStamped'
        type       = <class 'dimos_generated.geometry_msgs.msg.PoseStamped'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

predicate = <bound method Event.is_set of <threading.Event at 0x75eea0902750: unset>>

    def wait_until(
        predicate: Callable[[], bool],
        *,
        timeout: float,
        interval: float = 0.1,
        message: str | None = None,
    ) -> None:
        """Poll ``predicate`` until it returns truthy or ``timeout`` elapses."""
        deadline = time.monotonic() + timeout
        while time.monotonic() < deadline:
            if predicate():
                return
            time.sleep(interval)
>       raise TimeoutError(message or f"Timed out after {timeout}s waiting for condition")
E       TimeoutError: Failed to get to position x=-3.567, y=-1.332

deadline   = 7314464.166161882
interval   = 0.1
message    = 'Failed to get to position x=-3.567, y=-1.332'
predicate  = <bound method Event.is_set of <threading.Event at 0x75eea0902750: unset>>
timeout    = 180

.../utils/testing/waiting.py:35: TimeoutError

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