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TomCC7
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Review reportUpdated: 2026-10-21. Direct predecessor: #4734.
What changes and why the diff is largeMigrate mapping/navigation callers from wrapper-owned numerical methods to generated messages plus explicit helpers. The unit covers occupancy grids, map storage/CLI, relocalization, graph/loop closure, A* safety/planning, native planners and followers; it also adds explicit region definitions. Review mapSuggested entry points: dimos/message_utils/occupancy.py, dimos/message_utils/pointcloud.py, packages/dimos-generated/custom/dimos_msgs/msg/RegionBounds.msg, dimos/mapping/cli/map.py, dimos/navigation/go2/replanning_a_star/global_planner.py. Complete file mapImplementation (85)
Build and dependency metadata (13)
Tests (44)
Documentation and replay inputs (3)
Review focus and scope reductions
ValidationFresh checks on Reproduction commands, not executed here unless stated aboveRun from this PR's own checkout root after installing its documented test dependencies. These are selected review entry points, not a claim of full-stack coverage. uv run pytest dimos/message_utils dimos/mapping/occupancy/test_generated_operations.py dimos/mapping/occupancy/test_generated_path_resampling.py dimos/mapping/occupancy/test_generated_rendering.py dimos/mapping/test_generated_costmapper.py dimos/mapping/test_generated_odometry_hist.py dimos/mapping/voxels/test_generated_stream.py dimos/navigation/go2/replanning_a_star/test_generated_astar.py dimos/navigation/go2/replanning_a_star/test_generated_planner.py dimos/navigation/go2/replanning_a_star/test_generated_safety.py dimos/robot/unitree/type/test_lidar.pyRemaining workCurrent predecessor is incorporated. Native planner builds, Clippy/Nix and full robot graph validation remain unverified. The installed-wheel tip checks are described in #4734; they do not certify each intermediate package independently. |
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TomCC7
added this pull request to stack #4776
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Migrate mapping and navigation messages to generated CDR types while keeping the existing algorithms. This includes occupancy grids, clouds, paths, goals, followers and explicit map region IDs.
Base: #4734. Region definitions and their tests stay here. Native mapper, MLS, local planner and trajectory follower now bind public SDK encoders and the shared integer-nanosecond TF adapters from #4774. Delete duplicate TF conversions and codec-only wrappers; retain real pointcloud layout conversion. Nix builds pin the corrected SDK source and include the independent message-adapter crate.
Final combined-stack validation: mapper 102 tests, MLS 135, local planner 93, follower 63. Six real Python/native integration tests pass with generated clouds, regions and paths. Source staging from the actual pinned archive passes locked Cargo dependency checks; full Nix builds were not run. The broader Python mapping suite and whole-graph cutover were not rerun for this codec change.
Existing algorithm and boundary review: #4737 (comment)
CDR dependencies and TF conventions
The stack consumes published dimos-cdrgen 0.1.2 and the immutable CDR library fix. SDK #4774 now uses standard ROS
TFMessage,TransformStampedand integerTime, with no per-driver TF codec callbacks or parallel public transform type. The externaltransformslibrary, validated by its complete std/no_std/serde and ARM verification gate, owns the frame tree, common-time lookup, interpolation and static history. Its atomic batch patch is pinned to5ae9563de0c02638c04e393aadfad28444a4398e.Combined-stack local validation: SDK 121, macros 22, mapper 101, MLS 135, local planner 91, follower 63, V4L2 6 and depth2depth 12 Rust tests; all 24 native/DimSim/port-contract acceptance tests pass without skips. The mapper exchange includes Python CDR
tf_staticinput; the follower exchange covers drive, arrival, a new goal and empty-path stop. Missing native binaries fail the dedicated job. RealSense passescargo check --all-targets --features docs-only; device linking and hardware execution were not tested. Seven real source-staging layouts pass locked Cargo resolution. Native acceptance for tipcc463c163aed465f7c1d6808165bf640820b0182: workflow run. These are combined-tip results, with the SDK additionally tested standalone at its own layer.Native Nix inputs use verified source archive
f7723ad4d5b9aa5dfe63614b6b537d1ccc2d212e, SHA256f90af8fa794a34d53ee9481c6d0bdb63138853b30f851d92960fd34224ff62b2. Full Nix builds remain unverified. SDK static edges persist after receipt; LCM/Zenoh do not acquire DDS transient-local durability from CDR. Existing Python mount publishers retain dynamictfcompatibility. Legacy modules remain explicitly pinned to SDK 0.1.0.Stack #4776 preserves existing history and PR bases. Current main still has conflicts with the original stack; this change does not rebase onto main. No DimOS PR has been merged.