feat: Go2 3D navigation (MLS planner, ray tracing) + mid360 mount shim#2670
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jeff-hykin wants to merge 98 commits into
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feat: Go2 3D navigation (MLS planner, ray tracing) + mid360 mount shim#2670jeff-hykin wants to merge 98 commits into
jeff-hykin wants to merge 98 commits into
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Use Go2Config.static_transforms + local _odom_to_tf helper, and the public camera_info_static() (was the removed _camera_info_static).
…ic instance-level
…ugh Transform ops
# Conflicts: # dimos/robot/all_blueprints.py
The sqlite-vec 0.1.6 aarch64 wheel ships a 32-bit vec0.so (upstream packaging bug) which fails to load on the Jetson with "wrong ELF class: ELFCLASS32". Pin >=0.1.7 to skip it (resolves to 0.1.9). Also fix the unitree-go2-nav-3d PointLio config: pass gravity_align=False instead of the removed config="no_gravity_align.yaml", drop the redundant body_frame_id, and set auto_build=True so the native binary recompiles.
… frames Add a row-major 4x4 transform to PointLioConfig so the C++ rewrites the cloud, odometry, and odom->body TF into a corrected mount frame, replacing the StaticTfCorrection hack. Drop frame_id/child_frame_id/sensor_frame_id config fields in favor of frame_mapping, injected into the C++ args at start.
…ecording Move the mid360 mount URDFs up to the go2 package and export their paths from config. nav_3d now builds the mount correction from those URDFs (replacing the deleted PointLioHack), records the corrected pointlio streams, and captures the raw Livox pcap.
…/hack/kronk-nav-4 # Conflicts: # dimos/robot/unitree/go2/blueprints/navigation/unitree_go2_nav_3d.py
PointLio reads the same physical Mid-360 as the rest of the rig, so collapse its DIMOS_POINTLIO_LIDAR_IP onto the shared DIMOS_MID360_LIDAR_IP — one env var for both modules instead of duplicating the same IP.
The rotated-mount un-rotation assumed the sensor was always physically rotated. Gate it behind USE_ROTATED_MID360_MOUNT (default off) so the blueprint runs the normal mount with an identity transform unless the rotated rig is in use.
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The camera block referenced onimage/Thread/publish_camera_info, none of which exist after camera_info publishing moved to the _on_static_publish hook. Subscribe the on_image closure and drop the stale thread wiring so mypy passes.
jeff-hykin
added
the
backport:skip
…eprint Replace the USE_ROTATED_MID360_MOUNT constant with two blueprints from a shared _nav_3d() factory: unitree-go2-nav-3d (normal mount) and unitree-go2-nav-3d-rotated (applies the mount_correction transform).
… rerun Standalone tool: loads the TF tree if present, then logs every PointCloud2 and Odometry stream (clouds placed via TF frame_id when TF exists). --seconds bounds the window from the recording start.
Point-LIO clouds are already registered in their world frame, and the recorded TF tree usually lacks the sensor frames, so referencing tf#/<frame_id> left clouds unplaced. Log clouds raw. Also move each odom trail off the posed entity (was double-transformed by the pose) onto world/trails/<name>.
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Rebuild the Point-LIO to avoid stale binary
Run the recording blueprint
Drive it through the space,
Ctrl+Cwhen you're done. You get two files:recording.db(the cloud + odometry the stack used, replayable) andrecordings/mid360_*.pcap(the raw Livox packets).