[TomCC7]

CostMapper now consumes generated PointCloud2 and publishes generated OccupancyGrid. The existing pointcloud-to-grid functions also accept generated clouds while retaining legacy input/output behavior for unmigrated callers; the numeric kernels are shared. Generated output copies the original Header, including empty-cloud and zero/negative/epoch timestamps, instead of reconstructing source time from float seconds. The initial safe disc copies the read-only cell view before updating generated data.

Parent: #4670. Part of the message encoding refactor.

Files	Change
Pointcloud occupancy algorithms	Explicit generated/legacy overloads and value construction around the unchanged numeric kernels; legal missing generated points filtered before rasterization
CostMapper	Generated port types, output-type validation and cell updates preserving metadata
One adjacent test file	Real memory-LCM RPC/ports/CDR, merged-map selection, independent Header copies, source-time edge cases, and actual apartment/big-office golden regression
Workflow	Installed-module provenance, focused cases, two strict production files and the existing Numba dependency

Run this with the proposal's installed main package:

import numpy as np
from dimos.messages.builtin_interfaces.msg import Time
from dimos.messages.std_msgs.msg import Header
from dimos.msgs.pointcloud import pointcloud_from_xyz
from dimos.mapping.pointclouds.occupancy import simple_occupancy

cloud = pointcloud_from_xyz(
    np.array([[0, 0, 0.4], [1, 1, 0]], dtype=np.float32),
    header=Header(frame_id="map", stamp=Time(sec=0, nanosec=1)),
)
grid = simple_occupancy(cloud, resolution=0.25)
assert grid.header.stamp.nanosec == 1
assert 100 in grid.data

From a prepared checkout, run NUMBA_NUM_THREADS=2 OMP_NUM_THREADS=2 python -m pytest --noconftest -o addopts='' -o 'markers=self_hosted: optional project fixture case' -m 'not self_hosted' -q dimos/mapping/test_generated_costmapper.py for 21 checks without external assets or network. Including its three self_hosted-marked project-data cases runs the existing apartment/big-office goldens through real CDR input/output. They use the PLY's original float64 point fields so fixture coordinates are not quantized before comparison.

Validation: 24 source checks pass, including all three real-data goldens; 21 installed-main-wheel checks pass with actual production modules asserted to come from site-packages (three source-data cases deselected). Real RPC and CDR Module ports use memq://, with owned teardown and event waits. Five existing project LFS archives were size/SHA256 verified before safe extraction; pointcloud archives total about 20.5 MB compressed,155.5 MB expanded. Two production files pass strict typing; applicable hooks, normal main wheel and default 198-package pip check pass. Wheel SHA256 db99fa66ad30a73bd12c9567611a3001ad60b396faa607f4f7e6831471c6ac74.

Numba reports that this environment's TBB interface is too old and disables that threading layer; numeric checks pass on the available fallback. No performance claim or benchmark investigation. The original legacy live-Moment module was not collected because it constructs a default-network transport at import. No hardware operation, host/network configuration changes or CI polling. The default encoding factory and remaining mapping producers are still separate cutover work.