Trajectory controller and navigation structure by leshy · Pull Request #3731 · dimensionalOS/dimos

leshy · 2026-08-27T19:08:31Z

there are a few things here that can be split into separate PRs but nav team is the only consumer so keeping here unless we decide otherwise

restructure of navigation/ much cleaner folder, new specs

class GlobalPlanner(Protocol):
    tf: In[TFMessage]
    goal: In[PointStamped]

    path: Out[Path]

class LocalPlanner(Protocol):
    tf: IO[TFMessage]
    planner_path: In[Path]
    local_map: In[PointCloud2]

    path: Out[Path]


class TrajectoryFollower(Protocol):
    tf: IO[TFMessage]
    path: In[Path]

    nav_cmd_vel: Out[Twist]

generic mcap mem2 decoder of all dimos msgs + tests

bridge hacky feature

we need to be able to explicitly subscribe to just SOME topics not all, so that they are not sent over network or decoded by py

module introspection fixes

module.io() hides default internal RPCs

lidar module config

removed global env reading, switched to local module config

distributed architecture for nav

we run go2-zenoh-motion-pointlio on go2 jetson and dimos --robot-ip go22 run go2-viewer on the laptop

this means zenoh (network robust) subs go over network, and rerun rendering and RPC happens locally on the laptop

greptile-apps · 2026-08-27T19:08:35Z

Too many files changed for review (140 files, 100 file limit).

Bypass the limit by tagging @greptile-apps to review.

codecov · 2026-09-10T13:17:25Z

❌ 7 Tests Failed:

Tests completed	Failed	Passed	Skipped
5390	7	5383	191

View the top 3 failed test(s) by shortest run time

dimos.navigation.motion.adapter.test_planner::test_hold_publishes_single_pose_stub_at_the_current_pose

Stack Traces | 0.005s run time

emb = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1, _ = {}

    def make(emb: Embodiment, resolution: float = RESOLUTION, **_: Any) -> RustTargetEpisode:
        try:
>           import dimos_motion2_target  # noqa: F401
E           ModuleNotFoundError: No module named 'dimos_motion2_target'

_          = {}
emb        = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1

.../planner/planners/target.py:144: ModuleNotFoundError

The above exception was the direct cause of the following exception:

    def test_hold_publishes_single_pose_stub_at_the_current_pose():
>       planner, published = _holding_planner()


.../motion/adapter/test_planner.py:111: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../motion/adapter/test_planner.py:104: in _holding_planner
    planner = _planner()
.../motion/adapter/test_planner.py:61: in _planner
    planner = MotionPlanner(**config)
        config     = {}
.../motion/adapter/planner.py:241: in __init__
    self._episode: PlannerEpisode = self.config.planner(self._emb)
        __class__  = <class 'dimos.navigation.motion.adapter.planner.MotionPlanner'>
        kwargs     = {}
        self       = <dimos.navigation.motion.adapter.planner.MotionPlanner object at 0xff8adc060cb0>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

emb = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1, _ = {}

    def make(emb: Embodiment, resolution: float = RESOLUTION, **_: Any) -> RustTargetEpisode:
        try:
            import dimos_motion2_target  # noqa: F401
        except ImportError as e:
>           raise ImportError(f"dimos_motion2_target is not built; run: {BUILD_CMD}") from e
E           ImportError: dimos_motion2_target is not built; run: uv run maturin develop --uv --release -m .../planner/rust/Cargo.toml

_          = {}
emb        = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1

.../planner/planners/target.py:146: ImportError

dimos.navigation.motion.adapter.test_planner::test_a_map_with_a_non_finite_return_still_plans

Stack Traces | 0.006s run time

emb = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1, _ = {}

    def make(emb: Embodiment, resolution: float = RESOLUTION, **_: Any) -> RustTargetEpisode:
        try:
>           import dimos_motion2_target  # noqa: F401
E           ModuleNotFoundError: No module named 'dimos_motion2_target'

_          = {}
emb        = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1

.../planner/planners/target.py:144: ModuleNotFoundError

The above exception was the direct cause of the following exception:

    def test_a_map_with_a_non_finite_return_still_plans():
        # one NaN x used to reach the search as a NaN grid corner: every tick
        # raised, "keeping the last published path" forever
>       planner, published = _holding_planner()


.../motion/adapter/test_planner.py:236: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../motion/adapter/test_planner.py:104: in _holding_planner
    planner = _planner()
.../motion/adapter/test_planner.py:61: in _planner
    planner = MotionPlanner(**config)
        config     = {}
.../motion/adapter/planner.py:241: in __init__
    self._episode: PlannerEpisode = self.config.planner(self._emb)
        __class__  = <class 'dimos.navigation.motion.adapter.planner.MotionPlanner'>
        kwargs     = {}
        self       = <dimos.navigation.motion.adapter.planner.MotionPlanner object at 0xff8adc105c70>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

emb = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1, _ = {}

    def make(emb: Embodiment, resolution: float = RESOLUTION, **_: Any) -> RustTargetEpisode:
        try:
            import dimos_motion2_target  # noqa: F401
        except ImportError as e:
>           raise ImportError(f"dimos_motion2_target is not built; run: {BUILD_CMD}") from e
E           ImportError: dimos_motion2_target is not built; run: uv run maturin develop --uv --release -m .../planner/rust/Cargo.toml

_          = {}
emb        = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1

.../planner/planners/target.py:146: ImportError

dimos.navigation.motion.adapter.test_planner::test_hold_warns_once_per_stale_episode

Stack Traces | 0.006s run time

emb = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1, _ = {}

    def make(emb: Embodiment, resolution: float = RESOLUTION, **_: Any) -> RustTargetEpisode:
        try:
>           import dimos_motion2_target  # noqa: F401
E           ModuleNotFoundError: No module named 'dimos_motion2_target'

_          = {}
emb        = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1

.../planner/planners/target.py:144: ModuleNotFoundError

The above exception was the direct cause of the following exception:

monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0xff8adc0b2b40>

    def test_hold_warns_once_per_stale_episode(monkeypatch):
        warnings = []
        monkeypatch.setattr(
            planner_module.logger, "warning", lambda msg, **kw: warnings.append(msg), raising=False
        )
>       planner, _published = _holding_planner()

monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0xff8adc0b2b40>
warnings   = []

.../motion/adapter/test_planner.py:143: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../motion/adapter/test_planner.py:104: in _holding_planner
    planner = _planner()
.../motion/adapter/test_planner.py:61: in _planner
    planner = MotionPlanner(**config)
        config     = {}
.../motion/adapter/planner.py:241: in __init__
    self._episode: PlannerEpisode = self.config.planner(self._emb)
        __class__  = <class 'dimos.navigation.motion.adapter.planner.MotionPlanner'>
        kwargs     = {}
        self       = <dimos.navigation.motion.adapter.planner.MotionPlanner object at 0xff8adc062f00>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

emb = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1, _ = {}

    def make(emb: Embodiment, resolution: float = RESOLUTION, **_: Any) -> RustTargetEpisode:
        try:
            import dimos_motion2_target  # noqa: F401
        except ImportError as e:
>           raise ImportError(f"dimos_motion2_target is not built; run: {BUILD_CMD}") from e
E           ImportError: dimos_motion2_target is not built; run: uv run maturin develop --uv --release -m .../planner/rust/Cargo.toml

_          = {}
emb        = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1

.../planner/planners/target.py:146: ImportError

dimos.navigation.motion.adapter.test_planner::test_a_stale_pose_is_a_missing_pose

Stack Traces | 0.008s run time

emb = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1, _ = {}

    def make(emb: Embodiment, resolution: float = RESOLUTION, **_: Any) -> RustTargetEpisode:
        try:
>           import dimos_motion2_target  # noqa: F401
E           ModuleNotFoundError: No module named 'dimos_motion2_target'

_          = {}
emb        = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1

.../planner/planners/target.py:144: ModuleNotFoundError

The above exception was the direct cause of the following exception:

monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0xff8adc0c9c70>

    def test_a_stale_pose_is_a_missing_pose(monkeypatch):
        # the pose is the world_frame -> base_frame edge on tf, read per tick; an
        # edge whose stamp stopped advancing is no pose at all, and the tick says so
        waiting = []
        monkeypatch.setattr(
            "dimos.navigation.motion.adapter.diagnostics.logger.warning",
            lambda msg, **kw: waiting.append(kw.get("on", "")),
            raising=False,
        )
>       planner, published = _holding_planner()

monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0xff8adc0c9c70>
waiting    = []

.../motion/adapter/test_planner.py:167: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../motion/adapter/test_planner.py:104: in _holding_planner
    planner = _planner()
.../motion/adapter/test_planner.py:61: in _planner
    planner = MotionPlanner(**config)
        config     = {}
.../motion/adapter/planner.py:241: in __init__
    self._episode: PlannerEpisode = self.config.planner(self._emb)
        __class__  = <class 'dimos.navigation.motion.adapter.planner.MotionPlanner'>
        kwargs     = {}
        self       = <dimos.navigation.motion.adapter.planner.MotionPlanner object at 0xff8adc0c9d90>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

emb = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1, _ = {}

    def make(emb: Embodiment, resolution: float = RESOLUTION, **_: Any) -> RustTargetEpisode:
        try:
            import dimos_motion2_target  # noqa: F401
        except ImportError as e:
>           raise ImportError(f"dimos_motion2_target is not built; run: {BUILD_CMD}") from e
E           ImportError: dimos_motion2_target is not built; run: uv run maturin develop --uv --release -m .../planner/rust/Cargo.toml

_          = {}
emb        = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1

.../planner/planners/target.py:146: ImportError

dimos.navigation.motion.adapter.test_planner::test_hold_stub_stops_the_controller

Stack Traces | 0.008s run time

emb = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1, _ = {}

    def make(emb: Embodiment, resolution: float = RESOLUTION, **_: Any) -> RustTargetEpisode:
        try:
>           import dimos_motion2_target  # noqa: F401
E           ModuleNotFoundError: No module named 'dimos_motion2_target'

_          = {}
emb        = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1

.../planner/planners/target.py:144: ModuleNotFoundError

The above exception was the direct cause of the following exception:

    def test_hold_stub_stops_the_controller():
>       planner, published = _holding_planner()


.../motion/adapter/test_planner.py:131: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../motion/adapter/test_planner.py:104: in _holding_planner
    planner = _planner()
.../motion/adapter/test_planner.py:61: in _planner
    planner = MotionPlanner(**config)
        config     = {}
.../motion/adapter/planner.py:241: in __init__
    self._episode: PlannerEpisode = self.config.planner(self._emb)
        __class__  = <class 'dimos.navigation.motion.adapter.planner.MotionPlanner'>
        kwargs     = {}
        self       = <dimos.navigation.motion.adapter.planner.MotionPlanner object at 0xff8b462c2db0>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

emb = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1, _ = {}

    def make(emb: Embodiment, resolution: float = RESOLUTION, **_: Any) -> RustTargetEpisode:
        try:
            import dimos_motion2_target  # noqa: F401
        except ImportError as e:
>           raise ImportError(f"dimos_motion2_target is not built; run: {BUILD_CMD}") from e
E           ImportError: dimos_motion2_target is not built; run: uv run maturin develop --uv --release -m .../planner/rust/Cargo.toml

_          = {}
emb        = Embodiment(length=0.883, width=0.593, comfort=0.4, precision=0.05, max_speed=0.95, min_speed=0.2, speed_clearance=0.35...0.463, -0.039, -0.001), (153.4, 0.781, 0.422, -0.039, -0.003), (180.0, 0.781, 0.416, -0.039, 0.0)), arc_inflate=0.0334)
resolution = 0.1

.../planner/planners/target.py:146: ImportError

dimos.codebase_checks.test_no_sections::test_no_section_markers

Stack Traces | 0.884s run time

def test_no_section_markers():
        """
        Fail if any file contains section-style comment markers.
    
        If a file is too complicated to be understood without sections, then the
        sections should be files. We don't need "subfiles".
        """
        violations = find_section_markers()
        if violations:
            report_lines = [
                f"Found {len(violations)} section marker(s). "
                "If a file is too complicated to be understood without sections, "
                'then the sections should be files. We don\'t need "subfiles".',
                "",
            ]
            for path, lineno, text in violations:
                report_lines.append(f"  {path}:{lineno}: {text.strip()}")
>           raise AssertionError("\n".join(report_lines))
E           AssertionError: Found 1 section marker(s). If a file is too complicated to be understood without sections, then the sections should be files. We don't need "subfiles".
E           
E             .../go2/zenoh/blueprints.py:443: # region box -- all of them either already drawn as the raytraced map or not worth

lineno     = 443
path       = '.../go2/zenoh/blueprints.py'
report_lines = ['Found 1 section marker(s). If a file is too complicated to be understood without sections, then the sections should ....../go2/zenoh/blueprints.py:443: # region box -- all of them either already drawn as the raytraced map or not worth']
text       = '    # region box -- all of them either already drawn as the raytraced map or not worth'
violations = [('.../go2/zenoh/blueprints.py', 443, '    # region box -- all of them either already drawn as the raytraced map or not worth')]

dimos/codebase_checks/test_no_sections.py:145: AssertionError

dimos.codebase_checks.test_no_dunder_new::test_no_dunder_new

Stack Traces | 2.46s run time

def test_no_dunder_new() -> None:
        """Fail if any test file calls `__new__` to bypass `__init__`."""
        dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
        hits = find_dunder_new_calls()
        if hits:
            listing = "\n".join(
                f"  - {p.relative_to(dimos_dir)}:{lineno}: {line.strip()}" for p, lineno, line in hits
            )
>           raise AssertionError(
                f"Found __new__ call(s) in test files:\n{listing}\n\n"
                "Tests must construct objects with the real constructor: __init__ is "
                "code under test too, and an object assembled by hand silently rots "
                "when the constructor changes. If __init__ does heavy work, mock the "
                "collaborators it needs instead of skipping it. Only if that is truly "
                "impossible, add the call to the WHITELIST in "
                "dimos/codebase_checks/test_no_dunder_new.py."
            )
E           AssertionError: Found __new__ call(s) in test files:
E             - visualization/rerun/test_bridge_topics.py:47: bridge = RerunBridgeModule.__new__(RerunBridgeModule)
E             - visualization/rerun/test_bridge_topics.py:74: coordinator = ModuleCoordinator.__new__(ModuleCoordinator)
E           
E           Tests must construct objects with the real constructor: __init__ is code under test too, and an object assembled by hand silently rots when the constructor changes. If __init__ does heavy work, mock the collaborators it needs instead of skipping it. Only if that is truly impossible, add the call to the WHITELIST in dimos/codebase_checks/test_no_dunder_new.py.

dimos_dir  = PosixPath('.../dimos/dimos/dimos')
hits       = [(PosixPath('.../dimos/dimos/di.../visualization/rerun/test_bridge_topics.py'), 47, '    bridge = RerunB....../visualization/rerun/test_bridge_topics.py'), 74, '    coordinator = ModuleCoordinator.__new__(ModuleCoordinator)')]
listing    = '  - visualization/rerun/test_bridge_topics.py:47: bridge = RerunBridgeModule.__new__(RerunBridgeModule)\n  - visualization/rerun/test_bridge_topics.py:74: coordinator = ModuleCoordinator.__new__(ModuleCoordinator)'

dimos/codebase_checks/test_no_dunder_new.py:67: AssertionError

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nav_3d/ is global_planner/. The Go2's own A* planner (and its RPC spec, the agent skills' contract with it) go under go2/; dannav, frontier_exploration and patrolling under experimental/; basic_path_follower becomes trajectory_follower/basic/; the visual servoing, its bbox goal module and navigation/visual/query join the skills that use them under agents/skills/visual_servoing/. Renames and import rewrites only.

topics= subscribes one zenoh key per name so an unlisted topic never crosses the link; serve_coordinator_rpc=False lets a viewer sit on a bus whose Coordinator name another stack owns. Both for a viewer on the far side of the robot's wifi.

local_planner/: an SE(2) search over the raycaster's local map, sliced through the body's own z-band, replanning to a carrot along the MLS route. trajectory_follower/fancy/: a pursuit law that reads the required precision off the path's own stamps. Each is a python module with a rust native twin (feature module) that is what runs; pyo3 (feature python) is test-only, for the parity tests. spec.py says what a GlobalPlanner, a Blind/Map LocalPlanner and a TrajectoryFollower are, as ports. An empty path is stop, a single pose is hold. embodiment/ is the measured Go2; tf_pose.py reads the body pose off tf with a deadman; cmd_vel_mux lets teleop preempt nav. go2-zenoh-motion, go2-zenoh-motion-pointlio (the Jetson rig, with its own Point-LIO and lidar addresses) and go2-viewer.

The config system feeds module fields from the environment (MID360__LIDAR_IP, .env, --mid360.lidar-ip); the Mid-360, virtual Mid-360, Point-LIO and FAST-LIO configs stop reading DIMOS_*_LIDAR_IP themselves.

The wire topic carries the message type in its last segment, so a dimos channel needs no codec registry; injected codecs still win.

… build A flake ref copies its whole source tree into the store; pointed at the repo root that is the build dirs, .venv and the LFS blobs. This directory is two files. The clippy hook skips the root flake for the same reason.

leshy · 2026-09-17T11:27:48Z

#4203

leshy requested review from Dreamsorcerer, aclauer, mustafab0, paul-nechifor and spomichter as code owners August 27, 2026 19:08

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leshy changed the title ~~Fix/ivan/motion stability~~ Trajectory controller and navigation structure Sep 17, 2026

leshy added 7 commits September 17, 2026 14:11

lidar drivers: plain config defaults, no os.environ

11d8038

The config system feeds module fields from the environment (MID360__LIDAR_IP, .env, --mid360.lidar-ip); the Mid-360, virtual Mid-360, Point-LIO and FAST-LIO configs stop reading DIMOS_*_LIDAR_IP themselves.

mcap: a dimos topic decodes itself

c131962

The wire topic carries the message type in its last segment, so a dimos channel needs no codec registry; injected codecs still win.

io() leaves out the lifecycle RPCs every module has

d159313

leshy force-pushed the fix/ivan/motion_stability branch from d856048 to 7c6e5dc Compare September 17, 2026 11:11

leshy closed this Sep 17, 2026

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Trajectory controller and navigation structure - #3731

Trajectory controller and navigation structure#3731
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fix/ivan/motion_stability

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restructure of navigation/ much cleaner folder, new specs

generic mcap mem2 decoder of all dimos msgs + tests

bridge hacky feature

module introspection fixes

lidar module config

distributed architecture for nav

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❌ 7 Tests Failed:

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leshy commented Aug 27, 2026 •

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