[TomCC7]

The live PGO mapper uses generated CDR PointCloud2/PoseStamped input and PointCloud2/PoseArray/weighted LineSegments3D/Float32 output. Port names, subscriptions, frame dropping, graph update conditions, telemetry options and PGO algorithms remain unchanged. Graph and map publications retain the lidar's exact source Header time.

Unitree stale-time repair accepts generated Header stamps alongside its existing Timestamped callers. Integer nanoseconds prevent adjacent valid captures from appearing stale through float rounding. A repaired generated message owns a copy; other subscribers retain the input bytes. The existing calibration window, stale extrapolation, frozen-firmware clock fallback and legacy caller mutation behavior are retained. The separate raw WebRTC conversion function still returns its old type pending the Go2 connection layer; this is not a wire fallback decoder.

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

Parent: #4692.

File category	Files	Purpose
Runtime	2	Generated live PGO ports/graph values and Header-aware stale repair
Tests	2	Actual CDR memq Module→map/graph/telemetry; original six stale-repair cases plus nanosecond/ownership/frozen-clock cases
CI	1	Same installed production-module tests and two strict files

Validation: 10 source and the same 10 installed-wheel tests pass, two strict production files and applicable hooks pass. Actual Module ports use explicit memq:// LCM with local RPC IPC and real GTSAM. Installation paths asserted to be site-packages. Normal main wheel SHA256: e8c3bc1f698427b9f0e36d015dfb480c6b6788dbe3e38ee82eae7f3d18483711.

Manual offline review after the normal development install with mapping dependencies:

OMP_NUM_THREADS=2 OPENBLAS_NUM_THREADS=2 python -m pytest \
  --noconftest --import-mode=importlib -o addopts='' -q \
  dimos/navigation/go2/loop_closure/test_generated_module.py \
  dimos/robot/unitree/type/test_lidar.py -k 'not test_init'

The explicitly deselected test_init reads the historical office_lidar recording; no historical decoding acceptance is claimed. The new integration creates synthetic input, subscribes to real output ports, checks known map/keyframe geometry and exact stamps, then owns all transport/Module cleanup. No robot, multicast network configuration, CI polling or benchmark execution. Known optional GTSAM pytest metadata mismatch remains as documented in #4691. Default cutover and the remaining robot/relocalization consumers are later layers.