[TomCC7]

The native SE(2) local planner now consumes generated PointCloud2, Path and TFMessage CDR values and publishes a generated Path, matching the Python planner ports. Existing search geometry, embodiment settings, RPC names and raw LCM/Zenoh transports remain unchanged.

Project: https://linear.app/dimensional/project/message-encoding-refactor-05a3ddb4af3e/overview

Parent: #4681. This is one consumer layer of the ongoing migration, not the final default/legacy cleanup.

Files	Count	Change
Native codecs/planner	3	Generated CDR I/O, row/endian-aware cloud access, exact TF source stamp metadata and relative profile time deltas
Python ports	1	Canonical generated message identities
Build/dependencies	3	Generated crate, locked dependency closure and standalone source assembly from fixed-hash project artifacts
Acceptance/CI	2	Actual Python/native process interoperability on discovery-disabled localhost Zenoh and compiled Rust gates

Manual test from this checkout, with Python development dependencies installed and a Rust toolchain:

python -m pip install -e .
cargo build --locked --manifest-path dimos/navigation/local_planner/rust/Cargo.toml --features module --bin local_planner --jobs 2
DIMOS_NATIVE_LOCAL_PLANNER_BINARY="$PWD/dimos/navigation/local_planner/rust/target/debug/local_planner" python -m pytest --noconftest --import-mode=importlib -o addopts='' -q dimos/navigation/local_planner/test_generated_native.py

This starts only a synthetic native planner and an explicitly local Zenoh router, sends Python-generated TF/cloud/path CDR and checks the returned canonical route. It owns process/session cleanup and does not operate hardware. Set the binary variable: omitting it intentionally skips the binary acceptance case.

Validated locally: 63 Rust unit tests and 5 integration tests from a standalone source assembly without checkout parent paths; all-target Clippy with warnings denied; actual binary interoperability (2 Python tests), also repeated with production modules loaded from the installed main wheel; strict typing for the Python wrapper; applicable hooks; main wheel build and the existing 198-package environment's dependency check. Wheel SHA256: 0aad3caa0fbf4f8544da0e86e8801a0fdef0961bf35050bf321d667e81f16b5c.

Limits: Nix executable is absent locally, so the updated flake has not been Nix-built. Its equivalent standalone Cargo source assembly was tested, which does not replace the Nix gate. Source TF metadata retains nanoseconds; SDK query windows still use the existing floating-point API, and newly computed plan timestamps retain the existing wall-clock representation. Legacy SDK message dependencies remain until their remaining consumers are migrated. CI was not polled; no all-green, hardware or human acceptance claim.