[TomCC7]

What this adds

• Build built-in .msg definitions with cdrgen during package installation.
• Package generated Python types at dimos.messages, plus schemas and native source artifacts.
• Keep existing dimos.msgs and business code unchanged.

Flow: definitions → cdrgen → installed artifacts → runnable examples. Base: main.

How to test

From this PR's checkout, with uv and a C++ compiler:

uv venv .venv-msg-review --python 3.12
DIMOS_ALLOW_MISSING_COCKPIT=1 uv pip install --python .venv-msg-review/bin/python .
.venv-msg-review/bin/python -I examples/message-package/demo_installed_wheel.py

The example prints the generated message and schema directories and checks CDR round trips.

For Python → C++ → Rust → Python, install CMake and Rust/Cargo, then run:

uv pip install --python .venv-msg-review/bin/python 'dimos-cdrgen[native]==0.1.2'
.venv-msg-review/bin/python -I examples/message-package/demo_native.py

The native example checks map/cpp/rust and the unchanged Header timestamp. Full instructions.

DIMOS_ALLOW_MISSING_COCKPIT=1 permits installation without prebuilt web assets. The Rust relay uses the complete external CDR library directly, pinned to the tested library fix in TomCC7/cdr-rs#1. WIP: transport, SDK and business integration follow in later PRs.

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, TransformStamped and integer Time, with no per-driver TF codec callbacks or parallel public transform type. The external transforms library, 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 to 5ae9563de0c02638c04e393aadfad28444a4398e.

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_static input; the follower exchange covers drive, arrival, a new goal and empty-path stop. Missing native binaries fail the dedicated job. RealSense passes cargo 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 tip cc463c163aed465f7c1d6808165bf640820b0182: 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, SHA256 f90af8fa794a34d53ee9481c6d0bdb63138853b30f851d92960fd34224ff62b2. 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 dynamic tf compatibility. 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.

[codecov]

Codecov Report

❌ Patch coverage is 76.01626% with 59 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/message_codegen/test_bundled.py	19.44%	57 Missing and 1 partial ⚠️
dimos/message_codegen/build.py	98.57%	0 Missing and 1 partial ⚠️

@@            Coverage Diff             @@
##             main    #4366      +/-   ##
==========================================
- Coverage   82.37%   82.33%   -0.04%     
==========================================
  Files        1674     1677       +3     
  Lines      156721   156940     +219     
  Branches    13144    13161      +17     
==========================================
+ Hits       129101   129220     +119     
- Misses      23965    24048      +83     
- Partials     3655     3672      +17     

Components	Coverage Δ
Tests	96.78% <67.04%> (-0.10%)	⬇️

Flag	Coverage Δ
OS-macos-latest	76.28% <76.01%> (-0.01%)	⬇️
OS-ubuntu-24.04-arm	76.05% <76.01%> (+<0.01%)	⬆️
OS-ubuntu-latest	76.39% <76.01%> (-0.01%)	⬇️
Py-3.10	?
Py-3.11	76.40% <76.01%> (+<0.01%)	⬆️
Py-3.12	76.41% <76.01%> (-0.01%)	⬇️
SelfHosted-Large	32.14% <25.20%> (-0.02%)	⬇️
SelfHosted-Linux	40.71% <25.20%> (-0.02%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/message_codegen/test_build.py	100.00% <100.00%> (ø)
dimos/message_codegen/test_integration.py	100.00% <ø> (ø)
dimos/message_codegen/build.py	98.57% <98.57%> (ø)
dimos/message_codegen/test_bundled.py	19.44% <19.44%> (ø)

... and 18 files with indirect coverage changes

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[greptile-apps]

Confidence Score: 4/5

[Medium impact] The change reaches DimOS installs and message-package builders.

The confirmed problems affect maintainer generation and native packaging workflows and are non-blocking; neither establishes a security vulnerability.

Findings

1.  Schema edits get left out ▶
2.  Packaging fails on Python 3.10 ▶

Summary

Adds built-in CDR messages under dimos.messages while keeping dimos.msgs available.

• DimOS installs built-in CDR messages under dimos.messages.
• Installed message examples round-trip in Python and across native languages.
• Message-codegen checks no longer run in a dedicated CI workflow.

The two maintainer-workflow issues do not block merging.

_{Reviews (1) · Last reviewed commit: "docs(messages): document complete built-..." · Reviewed by Greptile}