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r1pro-nav: dimSLAM fuses Point-LIO and wheel odometry into the planners' pose - #4615
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jeff-hykin wants to merge 39 commits into
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…heels Point-LIO's own tf goes off the tree and the lidar mount hangs under base_link; the planners read dimSLAM's pose. No cameras or IMU. Bumps dimSLAM to v0.4.2, whose no-IMU blend no longer counts a returning source's gap twice.
…eff/feat/r1pro_nav_dimslam # Conflicts: # dimos/robot/galaxea/r1pro/test_lio.py
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go2 replay realtime (arm64)
Details
| Benchmark suite | Current: 2a3093a | Previous: e4b62ac | Ratio |
|---|---|---|---|
peak memory |
1558.492 MB |
1840.531 MB |
0.85 |
peak threads |
352 threads |
365 threads |
0.96 |
network (transport) |
2722.089 MB |
2730.976 MB |
1.00 |
disk write |
1.73 MB |
1.695 MB |
1.02 |
instructions |
115.435 G |
137.761 G |
0.84 |
This comment was automatically generated by workflow using github-action-benchmark.
Codecov Report❌ Patch coverage is
@@ Coverage Diff @@
## jeff/feat/r1pro_nav_arms #4615 +/- ##
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- Coverage 81.77% 81.77% -0.01%
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Files 1645 1645
Lines 154007 154069 +62
Branches 12964 12966 +2
============================================================
+ Hits 125944 125993 +49
- Misses 24481 24495 +14
+ Partials 3582 3581 -1
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... and 9 files with indirect coverage changes 🚀 New features to boost your workflow:
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…, with the Point-LIO core pinning gone
…ff drive's sideways slide pinned
…Alfred is holonomic)
…agged by angular zero-velocity entries), dim-odom 0.5.0b2
…eam (Point-LIO 24 -> 16% CPU, same jitter)
… due (82% of a standing R1's states)
…alive is due (82% of a standing R1's states)" This reverts commit 4f38894.
…joint state at 30 Hz
# Conflicts: # dimos/robot/galaxea/r1pro/blueprints/navigation/r1pro_nav.py
# Conflicts: # dimos/robot/galaxea/r1pro/blueprints/navigation/r1pro_nav.py
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dimSLAM (no cameras, no IMU) owns odom -> base_link in r1pro-nav, fusing Point-LIO and wheel odometry; bumps dimSLAM to v0.4.2.