[TomCC7]

Native consumers currently build CDR headers themselves, panic in output encoder wrappers, and duplicate TF conversions. Use the complete external CDR library in the SDK, propagate encoder errors through Output/Io, and share generated-message TF adapters that retain integer nanoseconds. A timestamp of 1700000000s + 123456789ns now survives decode, graph lookup, and republishing exactly.

Keep the generated-message adapters in a separate SDK crate so the core SDK still builds without generated schemas. Drivers bind public codecs directly; device pixel/cloud conversion stays in its owning driver. Legacy wire channels remain explicit.

This foundation sits after #4722 and before #4732, moving the shared SDK work out of #4734. Later stack layers migrate camera, depth, mapping, and planning callers. Their Nix inputs use an immutable source archive with verified tar and git-source hashes.

The external library is cdr = "=0.2.4", pinned to a tested library fix because the original repository is archived. No codec implementation is added to cdrgen or drivers.

Validation on the final combined stack: SDK 158 tests, message adapters 2 tests, mapper 102, MLS 135, local planner 93, follower 63, V4L2 6; 12 actual native/DimSim interoperability tests. Malformed headers, truncation, trailing bytes, string boundaries, encoding failures, and exact TF timestamps are covered. Seven real Nix source-staging layouts pass Cargo's locked dependency checks. Full Nix builds were not run; RealSense and depth2depth tests still require librealsense2 and model weights, respectively. Mandatory native workflows are added at the stack's acceptance layer.

Published CDR dependency update

Consume published dimos-cdrgen==0.1.2 throughout this stack, including packaging examples, the Python lock and the Nix generator wheel. PyPI release and successful publisher run. Downloaded wheel/sdist hashes match that run's artifacts exactly.

The external CDR library fix is available as fork release v0.2.4-dimos.1, pinned to its tested commit. Shared SDK API 0.2.0 is isolated in #4774; explicit legacy SDK 0.1.0 pins remain compatible and are respected by autofix. No DimOS PR has been merged.

Final combined-stack verification after installing the published generator: SDK 158, adapters 2, mapper 102, MLS 135, local planner 93, follower 63, V4L2 6 tests; all 12 real native/DimSim exchanges pass. The seven Nix source-staging layouts pass locked Cargo dependency resolution using archive 8101c8db4a50043f1dbd0127fd00220ec9b5a37a. Full Nix builds and hardware/model-dependent tests remain unverified. These are combined-tip results, not independent full test runs of every intermediate PR.

Current main has additional mapping/control changes that conflict with this stack. The dependency release update preserves the existing stack base; a main rebase is still required before merging. Final native acceptance passed on the stack tip: https://github.com/dimensionalOS/dimos/actions/runs/39851662834

Final native CI passed on the exact stack tip, including SDK/consumer builds, Rust tests and all 12 native/DimSim exchanges: https://github.com/dimensionalOS/dimos/actions/runs/39851662834