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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 37 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: 6a97ee9 | Previous: 7647368 | Ratio |
|---|---|---|---|
peak memory |
1589.715 MB |
1607.371 MB |
0.99 |
peak threads |
356 threads |
352 threads |
1.01 |
network (transport) |
2730.028 MB |
2722.067 MB |
1.00 |
disk write |
1.766 MB |
1.691 MB |
1.04 |
instructions |
115.47 G |
114.963 G |
1.00 |
This comment was automatically generated by workflow using github-action-benchmark.
Codecov Report❌ Patch coverage is
@@ Coverage Diff @@
## jeff/feat/r1pro_nav_arms #4615 +/- ##
============================================================
+ Coverage 81.75% 81.89% +0.13%
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Files 1645 1645
Lines 154058 154121 +63
Branches 12973 12975 +2
============================================================
+ Hits 125957 126215 +258
+ Misses 24517 24314 -203
- Partials 3584 3592 +8
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... and 18 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
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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.