diff --git a/.github/workflows/message-codegen.yml b/.github/workflows/message-codegen.yml
index 11ad11f84fa..987ba978806 100644
--- a/.github/workflows/message-codegen.yml
+++ b/.github/workflows/message-codegen.yml
@@ -23,6 +23,7 @@ on:
       - docs/usage/transforms.md
       - dimos/hardware/sensors/camera/**
       - dimos/perception/detection/**
+      - dimos/perception/depth2depth_cloud/**
       - dimos/perception/fiducial/**
       - dimos/perception/localize/**
       - dimos/perception/detection/project.py
@@ -205,5 +206,12 @@ jobs:
       - name: Verify generated ZED frames without the proprietary SDK
         if: runner.os == 'Linux'
         run: |
-          .native-review/bin/python -I -c 'import dimos; import pytest; import sys; raise SystemExit(pytest.main(sys.argv[1:]))' --noconftest --import-mode=importlib -o addopts='' -q "$PWD/dimos/hardware/sensors/camera/zed/test_messages.py"
+          .native-review/bin/python -I -c 'from dimos.hardware.sensors.camera.zed import messages, compat; import pytest; import sys; assert all("site-packages" in str(module.__file__) for module in (messages, compat)); raise SystemExit(pytest.main(sys.argv[1:]))' --noconftest --import-mode=importlib -o addopts='' -q "$PWD/dimos/hardware/sensors/camera/zed/test_messages.py"
           MYPYPATH="$PWD/build/message-source/python" .native-review/bin/python -m mypy --follow-imports=silent dimos/hardware/sensors/camera/zed/camera.py dimos/hardware/sensors/camera/zed/compat.py dimos/hardware/sensors/camera/zed/messages.py
+      - name: Verify native generated depth-cloud messages and point layouts
+        if: runner.os == 'Linux'
+        run: |
+          .native-review/bin/python -I -c 'from dimos.perception.depth2depth_cloud import module; import pytest; import sys; assert "site-packages" in str(module.__file__); raise SystemExit(pytest.main(sys.argv[1:]))' --noconftest --import-mode=importlib -o addopts='' -q "$PWD/dimos/perception/depth2depth_cloud/test_depth2depth_cloud_config.py"
+          MYPYPATH="$PWD/build/message-source/python" .native-review/bin/python -m mypy --follow-imports=silent dimos/perception/depth2depth_cloud/module.py
+          cargo test --locked --manifest-path dimos/perception/depth2depth_cloud/rust/Cargo.toml -j 2 --lib
+          cargo test --locked --manifest-path native/rust/dimos-module/Cargo.toml -j 2 pointcloud::tests
diff --git a/dimos/experimental/memory/rust/Cargo.lock b/dimos/experimental/memory/rust/Cargo.lock
index e0158b7e713..1c8b515d0ea 100644
--- a/dimos/experimental/memory/rust/Cargo.lock
+++ b/dimos/experimental/memory/rust/Cargo.lock
@@ -657,7 +657,7 @@ dependencies = [
 [[package]]
 name = "dimos-lcm"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#04d78e8622500244123ba9cefa4c51b4cb454549"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
 dependencies = [
  "byteorder",
  "socket2 0.5.10",
@@ -672,7 +672,7 @@ dependencies = [
  "crossbeam-channel",
  "crossbeam-utils",
  "dimos-module",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen)",
  "lz4_flex 0.14.0",
  "mcap",
  "rayon",
@@ -689,11 +689,11 @@ dependencies = [
 [[package]]
 name = "dimos-module"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "dimos-lcm",
  "dimos-module-macros",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549)",
  "nalgebra",
  "rayon",
  "serde",
@@ -709,7 +709,7 @@ dependencies = [
 [[package]]
 name = "dimos-module-macros"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1555,6 +1555,14 @@ dependencies = [
  "byteorder",
 ]
 
+[[package]]
+name = "lcm-msgs"
+version = "0.1.0"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "libc"
 version = "0.2.189"
diff --git a/dimos/experimental/memory/rust/Cargo.toml b/dimos/experimental/memory/rust/Cargo.toml
index 7ac39440148..6938f5a2c37 100644
--- a/dimos/experimental/memory/rust/Cargo.toml
+++ b/dimos/experimental/memory/rust/Cargo.toml
@@ -9,7 +9,7 @@ license = "Apache-2.0"
 anyhow = "1"
 crossbeam-channel = "0.5"
 crossbeam-utils = "0.8"
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "fbbd1b5233886cc2cd4aa64756e730bb63c443e3" }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
 lz4_flex = "0.14.0"
 mcap = { version = "0.25.0", default-features = false, features = ["zstd"] }
diff --git a/dimos/experimental/memory/rust/crate-hashes.json b/dimos/experimental/memory/rust/crate-hashes.json
index 4c5fde86d6c..e5e671115ab 100644
--- a/dimos/experimental/memory/rust/crate-hashes.json
+++ b/dimos/experimental/memory/rust/crate-hashes.json
@@ -1,6 +1,7 @@
 {
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
   "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module-macros@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA="
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module-macros@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M="
 }
\ No newline at end of file
diff --git a/dimos/hardware/sensors/lidar/livox/rust/Cargo.lock b/dimos/hardware/sensors/lidar/livox/rust/Cargo.lock
index d4f9a187f15..351c6599bd6 100644
--- a/dimos/hardware/sensors/lidar/livox/rust/Cargo.lock
+++ b/dimos/hardware/sensors/lidar/livox/rust/Cargo.lock
@@ -609,7 +609,7 @@ dependencies = [
 [[package]]
 name = "dimos-lcm"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#04d78e8622500244123ba9cefa4c51b4cb454549"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
 dependencies = [
  "byteorder",
  "socket2 0.5.10",
@@ -621,7 +621,7 @@ name = "dimos-livox"
 version = "0.1.0"
 dependencies = [
  "dimos-module",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen)",
  "livox-wire",
  "serde",
  "serde_json",
@@ -636,11 +636,11 @@ dependencies = [
 [[package]]
 name = "dimos-module"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "dimos-lcm",
  "dimos-module-macros",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549)",
  "nalgebra",
  "rayon",
  "serde",
@@ -656,7 +656,7 @@ dependencies = [
 [[package]]
 name = "dimos-module-macros"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1454,6 +1454,14 @@ dependencies = [
  "byteorder",
 ]
 
+[[package]]
+name = "lcm-msgs"
+version = "0.1.0"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "libc"
 version = "0.2.189"
diff --git a/dimos/hardware/sensors/lidar/livox/rust/Cargo.toml b/dimos/hardware/sensors/lidar/livox/rust/Cargo.toml
index 2b042fdd770..101cabbe174 100644
--- a/dimos/hardware/sensors/lidar/livox/rust/Cargo.toml
+++ b/dimos/hardware/sensors/lidar/livox/rust/Cargo.toml
@@ -22,7 +22,7 @@ imu = "sensor_msgs.Imu"
 
 [dependencies]
 livox-wire = { git = "https://github.com/dimensionalOS/livox-wire", rev = "441c4a16dbe2adb0683ece976cc800c6d7fbc790" }
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "fbbd1b5233886cc2cd4aa64756e730bb63c443e3" }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"
diff --git a/dimos/hardware/sensors/lidar/livox/rust/crate-hashes.json b/dimos/hardware/sensors/lidar/livox/rust/crate-hashes.json
index 25a968ff3d3..cdc38776ae0 100644
--- a/dimos/hardware/sensors/lidar/livox/rust/crate-hashes.json
+++ b/dimos/hardware/sensors/lidar/livox/rust/crate-hashes.json
@@ -1,7 +1,8 @@
 {
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
   "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module-macros@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module-macros@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M=",
   "git+https://github.com/dimensionalOS/livox-wire?rev=441c4a16dbe2adb0683ece976cc800c6d7fbc790#0.1.0": "sha256-wDNVchRiqm4N9wPGwvYJ9JssmPOC33wBTE4QT6vZkGA="
 }
\ No newline at end of file
diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.lock b/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.lock
index cedde0f558f..cb1e230bbb9 100644
--- a/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.lock
+++ b/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.lock
@@ -609,7 +609,7 @@ dependencies = [
 [[package]]
 name = "dimos-lcm"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#04d78e8622500244123ba9cefa4c51b4cb454549"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
 dependencies = [
  "byteorder",
  "socket2 0.5.10",
@@ -619,11 +619,11 @@ dependencies = [
 [[package]]
 name = "dimos-module"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "dimos-lcm",
  "dimos-module-macros",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549)",
  "nalgebra",
  "rayon",
  "serde",
@@ -639,7 +639,7 @@ dependencies = [
 [[package]]
 name = "dimos-module-macros"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -652,7 +652,7 @@ name = "dimos-pointlio"
 version = "0.1.0"
 dependencies = [
  "dimos-module",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen)",
  "livox-wire",
  "pointlio-core",
  "serde",
@@ -1443,6 +1443,14 @@ dependencies = [
  "byteorder",
 ]
 
+[[package]]
+name = "lcm-msgs"
+version = "0.1.0"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "libc"
 version = "0.2.189"
diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.toml b/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.toml
index a6cb8b21048..b450c43a1ea 100644
--- a/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.toml
+++ b/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.toml
@@ -33,7 +33,7 @@ odometry = "nav_msgs.Odometry"
 livox-wire = { git = "https://github.com/dimensionalOS/livox-wire", rev = "441c4a16dbe2adb0683ece976cc800c6d7fbc790" }
 # Direct dependencies of the copied livox wire/pipeline/pcap modules. See src/lib.rs.
 pointlio-core = { git = "https://github.com/dimensionalOS/dimos-module-pointlio.git", rev = "22a5403f827d030b248ae473c2808b5d405b3d55" }
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "fbbd1b5233886cc2cd4aa64756e730bb63c443e3" }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"
diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/crate-hashes.json b/dimos/hardware/sensors/lidar/pointlio/rust/crate-hashes.json
index 68580a734b5..d4f14eb9c8d 100644
--- a/dimos/hardware/sensors/lidar/pointlio/rust/crate-hashes.json
+++ b/dimos/hardware/sensors/lidar/pointlio/rust/crate-hashes.json
@@ -1,8 +1,9 @@
 {
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
   "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
   "git+https://github.com/dimensionalOS/dimos-module-pointlio.git?rev=22a5403f827d030b248ae473c2808b5d405b3d55#pointlio-core@0.1.0": "sha256-FjUcsZVI8nTcmKw8WhdxBuHelBjOCeJmyEsyqRxDvX0=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module-macros@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module-macros@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M=",
   "git+https://github.com/dimensionalOS/livox-wire?rev=441c4a16dbe2adb0683ece976cc800c6d7fbc790#0.1.0": "sha256-wDNVchRiqm4N9wPGwvYJ9JssmPOC33wBTE4QT6vZkGA="
 }
\ No newline at end of file
diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock
index d5b83c0f4e9..64357d40eb2 100644
--- a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock
+++ b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock
@@ -609,7 +609,7 @@ dependencies = [
 [[package]]
 name = "dimos-lcm"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#04d78e8622500244123ba9cefa4c51b4cb454549"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
 dependencies = [
  "byteorder",
  "socket2 0.5.10",
@@ -619,7 +619,7 @@ dependencies = [
 [[package]]
 name = "dimos-module"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "dimos-lcm",
  "dimos-module-macros",
@@ -639,7 +639,7 @@ dependencies = [
 [[package]]
 name = "dimos-module-macros"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1436,7 +1436,7 @@ checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
 [[package]]
 name = "lcm-msgs"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#04d78e8622500244123ba9cefa4c51b4cb454549"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
 dependencies = [
  "byteorder",
 ]
diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml
index 220a2de1080..c0d4715701f 100644
--- a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml
+++ b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml
@@ -10,7 +10,7 @@ path = "src/main.rs"
 [dependencies]
 livox-wire = { git = "https://github.com/dimensionalOS/livox-wire", rev = "441c4a16dbe2adb0683ece976cc800c6d7fbc790" }
 # Direct dependencies of the copied livox wire/pipeline/pcap modules. See src/main.rs.
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "fbbd1b5233886cc2cd4aa64756e730bb63c443e3" }
 tokio = { version = "1", features = ["rt-multi-thread", "macros", "time", "net", "sync"] }
 serde = { version = "1", features = ["derive"] }
 socket2 = "0.6"
diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/crate-hashes.json b/dimos/hardware/sensors/lidar/virtual_mid360/crate-hashes.json
index 25a968ff3d3..89af0f86abc 100644
--- a/dimos/hardware/sensors/lidar/virtual_mid360/crate-hashes.json
+++ b/dimos/hardware/sensors/lidar/virtual_mid360/crate-hashes.json
@@ -1,7 +1,7 @@
 {
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module-macros@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module-macros@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M=",
   "git+https://github.com/dimensionalOS/livox-wire?rev=441c4a16dbe2adb0683ece976cc800c6d7fbc790#0.1.0": "sha256-wDNVchRiqm4N9wPGwvYJ9JssmPOC33wBTE4QT6vZkGA="
 }
\ No newline at end of file
diff --git a/dimos/mapping/dim_slam/rust/Cargo.lock b/dimos/mapping/dim_slam/rust/Cargo.lock
index 9308b22cb40..c56d02a05c5 100644
--- a/dimos/mapping/dim_slam/rust/Cargo.lock
+++ b/dimos/mapping/dim_slam/rust/Cargo.lock
@@ -557,7 +557,7 @@ dependencies = [
  "cu_vslam_rs",
  "dim_slam",
  "dimos-module",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen)",
  "serde",
  "tokio",
  "tracing",
@@ -578,7 +578,7 @@ dependencies = [
 [[package]]
 name = "dimos-lcm"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#04d78e8622500244123ba9cefa4c51b4cb454549"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
 dependencies = [
  "byteorder",
  "socket2 0.5.10",
@@ -588,11 +588,11 @@ dependencies = [
 [[package]]
 name = "dimos-module"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "dimos-lcm",
  "dimos-module-macros",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549)",
  "nalgebra",
  "rayon",
  "serde",
@@ -608,7 +608,7 @@ dependencies = [
 [[package]]
 name = "dimos-module-macros"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1395,6 +1395,14 @@ dependencies = [
  "byteorder",
 ]
 
+[[package]]
+name = "lcm-msgs"
+version = "0.1.0"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "libc"
 version = "0.2.189"
diff --git a/dimos/mapping/dim_slam/rust/Cargo.toml b/dimos/mapping/dim_slam/rust/Cargo.toml
index 8df62977ea2..88d8ae76005 100644
--- a/dimos/mapping/dim_slam/rust/Cargo.toml
+++ b/dimos/mapping/dim_slam/rust/Cargo.toml
@@ -15,7 +15,7 @@ dim_slam = { git = "https://github.com/dimensionalOS/dimSLAM", tag = "v0.4.1" }
 # Unused directly, but cargo hands DEP_CUVSLAM_LIB_DIR only to immediate dependents
 # and build.rs needs it for the rpath.
 cu_vslam_rs = "0.2.0"
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "fbbd1b5233886cc2cd4aa64756e730bb63c443e3" }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
 tokio = { version = "1", features = ["rt-multi-thread", "macros"] }
 tracing = "0.1"
diff --git a/dimos/mapping/dim_slam/rust/crate-hashes.json b/dimos/mapping/dim_slam/rust/crate-hashes.json
index 980a12b1ffc..de09dfc570a 100644
--- a/dimos/mapping/dim_slam/rust/crate-hashes.json
+++ b/dimos/mapping/dim_slam/rust/crate-hashes.json
@@ -1,7 +1,8 @@
 {
   "git+https://github.com/dimensionalOS/dimSLAM?tag=v0.4.1#dim_slam@0.1.0": "sha256-jx3QjYNclt3JFJOonGIAzfoJeJ5bhowx70a7LumF6IA=",
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
   "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module-macros@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA="
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module-macros@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M="
 }
\ No newline at end of file
diff --git a/dimos/mapping/ray_tracing/rust/Cargo.lock b/dimos/mapping/ray_tracing/rust/Cargo.lock
index 4412e44ee34..8e62024b766 100644
--- a/dimos/mapping/ray_tracing/rust/Cargo.lock
+++ b/dimos/mapping/ray_tracing/rust/Cargo.lock
@@ -588,7 +588,7 @@ dependencies = [
 [[package]]
 name = "dimos-lcm"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#04d78e8622500244123ba9cefa4c51b4cb454549"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
 dependencies = [
  "byteorder",
  "socket2 0.5.10",
@@ -598,11 +598,11 @@ dependencies = [
 [[package]]
 name = "dimos-module"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "dimos-lcm",
  "dimos-module-macros",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549)",
  "nalgebra",
  "rayon",
  "serde",
@@ -618,7 +618,7 @@ dependencies = [
 [[package]]
 name = "dimos-module-macros"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -633,7 +633,7 @@ dependencies = [
  "ahash",
  "arrayvec",
  "dimos-module",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen)",
  "nalgebra",
  "rayon",
  "serde",
@@ -1438,6 +1438,14 @@ dependencies = [
  "byteorder",
 ]
 
+[[package]]
+name = "lcm-msgs"
+version = "0.1.0"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "libc"
 version = "0.2.189"
diff --git a/dimos/mapping/ray_tracing/rust/Cargo.toml b/dimos/mapping/ray_tracing/rust/Cargo.toml
index e96b69ebefa..0a8203509d3 100644
--- a/dimos/mapping/ray_tracing/rust/Cargo.toml
+++ b/dimos/mapping/ray_tracing/rust/Cargo.toml
@@ -35,7 +35,7 @@ region_bounds = "geometry_msgs.PoseStamped"
 map_regions = "sensor_msgs.PointCloud2"
 
 [dependencies]
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "fbbd1b5233886cc2cd4aa64756e730bb63c443e3" }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
 tokio = { version = "1", features = ["rt-multi-thread", "macros", "signal"] }
 serde = { version = "1", features = ["derive"] }
diff --git a/dimos/mapping/ray_tracing/rust/crate-hashes.json b/dimos/mapping/ray_tracing/rust/crate-hashes.json
index 4c5fde86d6c..e5e671115ab 100644
--- a/dimos/mapping/ray_tracing/rust/crate-hashes.json
+++ b/dimos/mapping/ray_tracing/rust/crate-hashes.json
@@ -1,6 +1,7 @@
 {
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
   "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module-macros@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA="
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module-macros@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M="
 }
\ No newline at end of file
diff --git a/dimos/models/embedding/clip.py b/dimos/models/embedding/clip.py
index ad5e3e0cc6c..f429dc62a93 100644
--- a/dimos/models/embedding/clip.py
+++ b/dimos/models/embedding/clip.py
@@ -17,12 +17,12 @@
 from functools import cached_property
 from typing import overload
 
-from dimos.messages.sensor_msgs.msg import Image
 from PIL import Image as PILImage
 import torch
 import torch.nn.functional as functional
 from transformers import CLIPModel as HFCLIPModel, CLIPProcessor
 
+from dimos.messages.sensor_msgs.msg import Image
 from dimos.models.base import HuggingFaceModel
 from dimos.models.embedding.base import Embedding, EmbeddingModel, HuggingFaceEmbeddingModelConfig
 from dimos.msgs.image import image_to_rgb
diff --git a/dimos/models/embedding/dino.py b/dimos/models/embedding/dino.py
index 5b0d24fd137..022a442ebf7 100644
--- a/dimos/models/embedding/dino.py
+++ b/dimos/models/embedding/dino.py
@@ -17,12 +17,12 @@
 from functools import cached_property
 from typing import Any, overload
 
-from dimos.messages.sensor_msgs.msg import Image
 from PIL import Image as PILImage
 import torch
 import torch.nn.functional as functional
 from transformers import AutoImageProcessor, AutoModel
 
+from dimos.messages.sensor_msgs.msg import Image
 from dimos.models.base import HuggingFaceModel
 from dimos.models.embedding.base import Embedding, EmbeddingModel, HuggingFaceEmbeddingModelConfig
 from dimos.msgs.image import image_to_rgb
diff --git a/dimos/models/embedding/siglip.py b/dimos/models/embedding/siglip.py
index bb0ed762943..8cabb1afdf4 100644
--- a/dimos/models/embedding/siglip.py
+++ b/dimos/models/embedding/siglip.py
@@ -17,12 +17,12 @@
 from functools import cached_property
 from typing import overload
 
-from dimos.messages.sensor_msgs.msg import Image
 from PIL import Image as PILImage
 import torch
 import torch.nn.functional as functional
 from transformers import SiglipModel as HFSiglipModel, SiglipProcessor
 
+from dimos.messages.sensor_msgs.msg import Image
 from dimos.models.base import HuggingFaceModel
 from dimos.models.embedding.base import Embedding, EmbeddingModel, HuggingFaceEmbeddingModelConfig
 from dimos.msgs.image import image_to_rgb
diff --git a/dimos/models/embedding/siglip2.py b/dimos/models/embedding/siglip2.py
index f8f1fe8861b..c85932f9176 100644
--- a/dimos/models/embedding/siglip2.py
+++ b/dimos/models/embedding/siglip2.py
@@ -17,12 +17,12 @@
 from functools import cached_property
 from typing import overload
 
-from dimos.messages.sensor_msgs.msg import Image
 from PIL import Image as PILImage
 import torch
 import torch.nn.functional as functional
 from transformers import SiglipModel as HFSiglipModel, SiglipProcessor
 
+from dimos.messages.sensor_msgs.msg import Image
 from dimos.models.base import HuggingFaceModel
 from dimos.models.embedding.base import Embedding, EmbeddingModel, HuggingFaceEmbeddingModelConfig
 from dimos.msgs.image import image_to_rgb
diff --git a/dimos/models/embedding/test_generated_images.py b/dimos/models/embedding/test_generated_images.py
index e3c1245ab07..a51f9778ba4 100644
--- a/dimos/models/embedding/test_generated_images.py
+++ b/dimos/models/embedding/test_generated_images.py
@@ -29,20 +29,25 @@
 from dimos.msgs.image import image_from_array, image_view
 
 
-@pytest.mark.parametrize("model_type", [CLIPModel,DINOModel,SigLIPModel,SigLIP2Model])
-def test_generated_embeddings_keep_zero_source_time_and_convert_rgb(mocker,model_type):
-    processor,network=mocker.Mock(),mocker.Mock()
-    features=torch.tensor([[3.0,4.0]])
-    processor.return_value=BatchFeature(data={"pixel_values":torch.zeros(1,3,4,8)})
-    network.get_image_features.return_value=features
-    network.return_value=BaseModelOutputWithPooling(last_hidden_state=features[:,None,:],pooler_output=features)
-    mocker.patch.object(model_type,"_processor",new_callable=PropertyMock,return_value=processor)
-    mocker.patch.object(model_type,"_model",new_callable=PropertyMock,return_value=network)
-    image=image_from_array(np.full((4,8,3),[0,0,255],dtype=np.uint8),encoding="bgr8",
-        header=Header(frame_id="camera",stamp=Time(sec=0,nanosec=0)))
-    model=model_type(device="cpu")
-    result=model.embed(image)
+@pytest.mark.parametrize("model_type", [CLIPModel, DINOModel, SigLIPModel, SigLIP2Model])
+def test_generated_embeddings_keep_zero_source_time_and_convert_rgb(mocker, model_type):
+    processor, network = mocker.Mock(), mocker.Mock()
+    features = torch.tensor([[3.0, 4.0]])
+    processor.return_value = BatchFeature(data={"pixel_values": torch.zeros(1, 3, 4, 8)})
+    network.get_image_features.return_value = features
+    network.return_value = BaseModelOutputWithPooling(
+        last_hidden_state=features[:, None, :], pooler_output=features
+    )
+    mocker.patch.object(model_type, "_processor", new_callable=PropertyMock, return_value=processor)
+    mocker.patch.object(model_type, "_model", new_callable=PropertyMock, return_value=network)
+    image = image_from_array(
+        np.full((4, 8, 3), [0, 0, 255], dtype=np.uint8),
+        encoding="bgr8",
+        header=Header(frame_id="camera", stamp=Time(sec=0, nanosec=0)),
+    )
+    model = model_type(device="cpu")
+    result = model.embed(image)
     assert result.timestamp == 0.0
-    torch.testing.assert_close(result.vector,torch.tensor([0.6,0.8]))
-    assert processor.call_args.kwargs["images"][0].getpixel((0,0)) == (255,0,0)
-    np.testing.assert_array_equal(image_view(image)[0,0],[0,0,255])
+    torch.testing.assert_close(result.vector, torch.tensor([0.6, 0.8]))
+    assert processor.call_args.kwargs["images"][0].getpixel((0, 0)) == (255, 0, 0)
+    np.testing.assert_array_equal(image_view(image)[0, 0], [0, 0, 255])
diff --git a/dimos/models/embedding/treid.py b/dimos/models/embedding/treid.py
index ce36b5d004b..3ce7331eec3 100644
--- a/dimos/models/embedding/treid.py
+++ b/dimos/models/embedding/treid.py
@@ -19,11 +19,11 @@
 
 from functools import cached_property
 
-from dimos.messages.sensor_msgs.msg import Image
 import torch
 import torch.nn.functional as functional
 from torchreid import utils as torchreid_utils
 
+from dimos.messages.sensor_msgs.msg import Image
 from dimos.models.base import LocalModel
 from dimos.models.embedding.base import Embedding, EmbeddingModel, EmbeddingModelConfig
 from dimos.msgs.image import image_to_bgr
diff --git a/dimos/navigation/global_planner/mls_planner/rust/Cargo.lock b/dimos/navigation/global_planner/mls_planner/rust/Cargo.lock
index 6e331d800ac..416501605ab 100644
--- a/dimos/navigation/global_planner/mls_planner/rust/Cargo.lock
+++ b/dimos/navigation/global_planner/mls_planner/rust/Cargo.lock
@@ -582,7 +582,7 @@ dependencies = [
 [[package]]
 name = "dimos-lcm"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#04d78e8622500244123ba9cefa4c51b4cb454549"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
 dependencies = [
  "byteorder",
  "socket2 0.5.10",
@@ -595,7 +595,7 @@ version = "0.1.0"
 dependencies = [
  "ahash",
  "dimos-module",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen)",
  "rayon",
  "serde",
  "smallvec",
@@ -619,11 +619,11 @@ dependencies = [
 [[package]]
 name = "dimos-module"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "dimos-lcm",
  "dimos-module-macros",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549)",
  "nalgebra",
  "rayon",
  "serde",
@@ -639,7 +639,7 @@ dependencies = [
 [[package]]
 name = "dimos-module-macros"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1433,6 +1433,14 @@ dependencies = [
  "byteorder",
 ]
 
+[[package]]
+name = "lcm-msgs"
+version = "0.1.0"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "libc"
 version = "0.2.189"
diff --git a/dimos/navigation/global_planner/mls_planner/rust/Cargo.toml b/dimos/navigation/global_planner/mls_planner/rust/Cargo.toml
index 9f47c6ad8fa..f49f819b51b 100644
--- a/dimos/navigation/global_planner/mls_planner/rust/Cargo.toml
+++ b/dimos/navigation/global_planner/mls_planner/rust/Cargo.toml
@@ -37,7 +37,7 @@ node_edges = "nav_msgs.LineSegments3D"
 path = "nav_msgs.Path"
 
 [dependencies]
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "fbbd1b5233886cc2cd4aa64756e730bb63c443e3" }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
 tokio = { version = "1", features = ["rt-multi-thread", "macros", "signal", "time"] }
 serde = { version = "1", features = ["derive"] }
diff --git a/dimos/navigation/global_planner/mls_planner/rust/crate-hashes.json b/dimos/navigation/global_planner/mls_planner/rust/crate-hashes.json
index 4c5fde86d6c..e5e671115ab 100644
--- a/dimos/navigation/global_planner/mls_planner/rust/crate-hashes.json
+++ b/dimos/navigation/global_planner/mls_planner/rust/crate-hashes.json
@@ -1,6 +1,7 @@
 {
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
   "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module-macros@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA="
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module-macros@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M="
 }
\ No newline at end of file
diff --git a/dimos/navigation/local_planner/rust/Cargo.lock b/dimos/navigation/local_planner/rust/Cargo.lock
index 97e25524ce5..d70b3b9742e 100644
--- a/dimos/navigation/local_planner/rust/Cargo.lock
+++ b/dimos/navigation/local_planner/rust/Cargo.lock
@@ -582,7 +582,7 @@ dependencies = [
 [[package]]
 name = "dimos-lcm"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#04d78e8622500244123ba9cefa4c51b4cb454549"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
 dependencies = [
  "byteorder",
  "socket2 0.5.10",
@@ -594,7 +594,7 @@ name = "dimos-local-planner"
 version = "0.1.0"
 dependencies = [
  "dimos-module",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen)",
  "serde",
  "serde_json",
  "tokio",
@@ -606,11 +606,11 @@ dependencies = [
 [[package]]
 name = "dimos-module"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "dimos-lcm",
  "dimos-module-macros",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549)",
  "nalgebra",
  "rayon",
  "serde",
@@ -626,7 +626,7 @@ dependencies = [
 [[package]]
 name = "dimos-module-macros"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1405,6 +1405,14 @@ dependencies = [
  "byteorder",
 ]
 
+[[package]]
+name = "lcm-msgs"
+version = "0.1.0"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "libc"
 version = "0.2.189"
diff --git a/dimos/navigation/local_planner/rust/Cargo.toml b/dimos/navigation/local_planner/rust/Cargo.toml
index 99cb298684a..0ed78fad589 100644
--- a/dimos/navigation/local_planner/rust/Cargo.toml
+++ b/dimos/navigation/local_planner/rust/Cargo.toml
@@ -17,7 +17,7 @@ required-features = ["module"]
 [dependencies]
 serde = { version = "1", features = ["derive"] }
 serde_json = { version = "1", features = ["float_roundtrip"] }
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443", optional = true }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "fbbd1b5233886cc2cd4aa64756e730bb63c443e3", optional = true }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen", optional = true }
 tokio = { version = "1", features = ["rt-multi-thread", "macros", "signal", "time"], optional = true }
 tracing = { version = "0.1", optional = true }
diff --git a/dimos/navigation/local_planner/rust/crate-hashes.json b/dimos/navigation/local_planner/rust/crate-hashes.json
index 4c5fde86d6c..e5e671115ab 100644
--- a/dimos/navigation/local_planner/rust/crate-hashes.json
+++ b/dimos/navigation/local_planner/rust/crate-hashes.json
@@ -1,6 +1,7 @@
 {
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
   "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module-macros@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA="
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module-macros@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M="
 }
\ No newline at end of file
diff --git a/dimos/navigation/trajectory_follower/fancy/rust/Cargo.lock b/dimos/navigation/trajectory_follower/fancy/rust/Cargo.lock
index f319e21e7c4..58eb12a5f3e 100644
--- a/dimos/navigation/trajectory_follower/fancy/rust/Cargo.lock
+++ b/dimos/navigation/trajectory_follower/fancy/rust/Cargo.lock
@@ -582,7 +582,7 @@ dependencies = [
 [[package]]
 name = "dimos-lcm"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#04d78e8622500244123ba9cefa4c51b4cb454549"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
 dependencies = [
  "byteorder",
  "socket2 0.5.10",
@@ -594,7 +594,7 @@ name = "dimos-local-planner"
 version = "0.1.0"
 dependencies = [
  "dimos-module",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen)",
  "serde",
  "serde_json",
  "tokio",
@@ -606,11 +606,11 @@ dependencies = [
 [[package]]
 name = "dimos-module"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "dimos-lcm",
  "dimos-module-macros",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549)",
  "nalgebra",
  "rayon",
  "serde",
@@ -626,7 +626,7 @@ dependencies = [
 [[package]]
 name = "dimos-module-macros"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -640,7 +640,7 @@ version = "0.1.0"
 dependencies = [
  "dimos-local-planner",
  "dimos-module",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen)",
  "numpy",
  "pyo3",
  "serde",
@@ -1437,6 +1437,14 @@ dependencies = [
  "byteorder",
 ]
 
+[[package]]
+name = "lcm-msgs"
+version = "0.1.0"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "libc"
 version = "0.2.189"
diff --git a/dimos/navigation/trajectory_follower/fancy/rust/Cargo.toml b/dimos/navigation/trajectory_follower/fancy/rust/Cargo.toml
index ad24d3e149e..5be6ed8dfc2 100644
--- a/dimos/navigation/trajectory_follower/fancy/rust/Cargo.toml
+++ b/dimos/navigation/trajectory_follower/fancy/rust/Cargo.toml
@@ -20,7 +20,7 @@ required-features = ["module"]
 # The body (`Emb`) the laws are parameterised from; python feature off, see adapter.
 dimos-local-planner = { path = "../../../local_planner/rust", default-features = false }
 serde = { version = "1", features = ["derive"], optional = true }
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443", optional = true }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "fbbd1b5233886cc2cd4aa64756e730bb63c443e3", optional = true }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen", optional = true }
 tokio = { version = "1", features = ["rt-multi-thread", "macros", "signal", "time"], optional = true }
 tracing = { version = "0.1", optional = true }
diff --git a/dimos/navigation/trajectory_follower/fancy/rust/crate-hashes.json b/dimos/navigation/trajectory_follower/fancy/rust/crate-hashes.json
index 4c5fde86d6c..e5e671115ab 100644
--- a/dimos/navigation/trajectory_follower/fancy/rust/crate-hashes.json
+++ b/dimos/navigation/trajectory_follower/fancy/rust/crate-hashes.json
@@ -1,6 +1,7 @@
 {
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
   "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module-macros@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA="
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module-macros@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M="
 }
\ No newline at end of file
diff --git a/dimos/navigation/trajectory_follower/fancy/rust/flake.lock b/dimos/navigation/trajectory_follower/fancy/rust/flake.lock
index d3f170199e1..a5947ad83a3 100644
--- a/dimos/navigation/trajectory_follower/fancy/rust/flake.lock
+++ b/dimos/navigation/trajectory_follower/fancy/rust/flake.lock
@@ -90,11 +90,11 @@
       },
       "locked": {
         "dir": "dimos/navigation/local_planner/rust",
-        "lastModified": 1792134367,
-        "narHash": "sha256-MFGVh66kb5TXulN5CAtnNbUTDBDxjdSogd7gqhVSt14=",
+        "lastModified": 1792472589,
+        "narHash": "sha256-spLoKmcHg3vp9Jrkx4TPllNivCg+gMeuYEcjqMK7ehU=",
         "owner": "dimensionalOS",
         "repo": "dimos",
-        "rev": "b938c8a601dae4a0de3af093f1af2e36950bfdbb",
+        "rev": "75318e5adf7a67bc651d1cda4b9d5d440e23bd88",
         "type": "github"
       },
       "original": {
diff --git a/dimos/perception/depth2depth_cloud/module.py b/dimos/perception/depth2depth_cloud/module.py
index 36d2cdc4d0d..917a3ef2b6c 100644
--- a/dimos/perception/depth2depth_cloud/module.py
+++ b/dimos/perception/depth2depth_cloud/module.py
@@ -23,10 +23,8 @@
 
 from dimos.core.native_module import NativeModule, NativeModuleConfig
 from dimos.core.stream import In, Out
-from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo
-from dimos.msgs.sensor_msgs.CompressedImage import CompressedImage
-from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
-from dimos.msgs.tf2_msgs.TFMessage import TFMessage
+from dimos.messages.sensor_msgs.msg import CameraInfo, CompressedImage, PointCloud2
+from dimos.messages.tf2_msgs.msg import TFMessage
 
 
 def has_nvidia_gpu() -> bool:
diff --git a/dimos/perception/depth2depth_cloud/rust/Cargo.lock b/dimos/perception/depth2depth_cloud/rust/Cargo.lock
index 57ec25d21e6..f33bea2c3f7 100644
--- a/dimos/perception/depth2depth_cloud/rust/Cargo.lock
+++ b/dimos/perception/depth2depth_cloud/rust/Cargo.lock
@@ -831,8 +831,8 @@ name = "dimos-depth2depth-cloud"
 version = "0.1.0"
 dependencies = [
  "depth2depth",
+ "dimos-generated-messages",
  "dimos-module",
- "lcm-msgs",
  "nalgebra",
  "rayon",
  "serde",
@@ -842,10 +842,21 @@ dependencies = [
  "validator",
 ]
 
+[[package]]
+name = "dimos-generated-messages"
+version = "0.0.14"
+dependencies = [
+ "heapless",
+ "re_cdr",
+ "ros2msg",
+ "serde",
+ "serde-big-array",
+]
+
 [[package]]
 name = "dimos-lcm"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#04d78e8622500244123ba9cefa4c51b4cb454549"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
 dependencies = [
  "byteorder",
  "socket2 0.5.10",
@@ -855,13 +866,13 @@ dependencies = [
 [[package]]
 name = "dimos-module"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
 dependencies = [
  "dimos-lcm",
  "dimos-module-macros",
  "lcm-msgs",
  "nalgebra",
  "rayon",
+ "re_cdr",
  "serde",
  "serde_json",
  "tokio",
@@ -875,7 +886,6 @@ dependencies = [
 [[package]]
 name = "dimos-module-macros"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1616,6 +1626,15 @@ dependencies = [
  "zerocopy",
 ]
 
+[[package]]
+name = "hash32"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "hashbrown"
 version = "0.12.3"
@@ -1660,6 +1679,17 @@ version = "0.17.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ed5909b6e89a2db4456e54cd5f673791d7eca6732202bbf2a9cc504fe2f9b84a"
 
+[[package]]
+name = "heapless"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
+dependencies = [
+ "hash32",
+ "serde",
+ "stable_deref_trait",
+]
+
 [[package]]
 name = "heck"
 version = "0.5.0"
@@ -2078,7 +2108,7 @@ checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
 [[package]]
 name = "lcm-msgs"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#04d78e8622500244123ba9cefa4c51b4cb454549"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
 dependencies = [
  "byteorder",
 ]
@@ -2828,6 +2858,16 @@ dependencies = [
  "zerocopy",
 ]
 
+[[package]]
+name = "prettyplease"
+version = "0.2.37"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "479ca8adacdd7ce8f1fb39ce9ecccbfe93a3f1344b3d0d97f20bc0196208f62b"
+dependencies = [
+ "proc-macro2",
+ "syn 2.0.119",
+]
+
 [[package]]
 name = "proc-macro-crate"
 version = "3.5.0"
@@ -3162,6 +3202,18 @@ dependencies = [
  "yasna",
 ]
 
+[[package]]
+name = "re_cdr"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bba10c21433b597481f366b978cdf2617e56785b38cb0dcc3833c6b8ad7e061a"
+dependencies = [
+ "bytemuck",
+ "byteorder",
+ "serde",
+ "thiserror 2.0.20",
+]
+
 [[package]]
 name = "reborrow"
 version = "0.5.5"
@@ -3284,6 +3336,23 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "ros2msg"
+version = "0.5.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2fe291be5cb6d4b8e6bf9c9de80c40bd1cb09ecac50deafa2fdcae0027e04988"
+dependencies = [
+ "heck",
+ "pest",
+ "pest_derive",
+ "prettyplease",
+ "proc-macro2",
+ "quote",
+ "regex",
+ "syn 2.0.119",
+ "thiserror 2.0.20",
+]
+
 [[package]]
 name = "rustc-hash"
 version = "2.1.3"
@@ -3566,6 +3635,15 @@ dependencies = [
  "serde_derive",
 ]
 
+[[package]]
+name = "serde-big-array"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "11fc7cc2c76d73e0f27ee52abbd64eec84d46f370c88371120433196934e4b7f"
+dependencies = [
+ "serde",
+]
+
 [[package]]
 name = "serde_core"
 version = "1.0.229"
diff --git a/dimos/perception/depth2depth_cloud/rust/Cargo.toml b/dimos/perception/depth2depth_cloud/rust/Cargo.toml
index 08b0649468f..0029d419dd0 100644
--- a/dimos/perception/depth2depth_cloud/rust/Cargo.toml
+++ b/dimos/perception/depth2depth_cloud/rust/Cargo.toml
@@ -21,17 +21,17 @@ path = "dimos_depth2depth_cloud::module::Depth2DepthCloud"
 python = "dimos.perception.depth2depth_cloud.module:Depth2DepthCloud"
 
 [package.metadata.dimos.module.depth2depth_cloud.inputs]
-image = "sensor_msgs.CompressedImage"
-camera_info = "sensor_msgs.CameraInfo"
-lidar = "sensor_msgs.PointCloud2"
-tf = "tf2_msgs.TFMessage"
+image = "sensor_msgs/msg/CompressedImage"
+camera_info = "sensor_msgs/msg/CameraInfo"
+lidar = "sensor_msgs/msg/PointCloud2"
+tf = "tf2_msgs/msg/TFMessage"
 
 [package.metadata.dimos.module.depth2depth_cloud.outputs]
-depth_cloud = "sensor_msgs.PointCloud2"
+depth_cloud = "sensor_msgs/msg/PointCloud2"
 
 [dependencies]
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
-lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
+dimos-module = { path = "../../../../native/rust/dimos-module", features = ["cdr"] }
+dimos-generated-messages = { path = "../../../../build/message-source/rust" }
 tokio = { version = "1", features = ["rt-multi-thread", "macros", "signal"] }
 serde = { version = "1", features = ["derive"] }
 tracing = "0.1"
diff --git a/dimos/perception/depth2depth_cloud/rust/crate-hashes.json b/dimos/perception/depth2depth_cloud/rust/crate-hashes.json
index 4c5fde86d6c..677538f3a27 100644
--- a/dimos/perception/depth2depth_cloud/rust/crate-hashes.json
+++ b/dimos/perception/depth2depth_cloud/rust/crate-hashes.json
@@ -1,6 +1,4 @@
 {
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module-macros@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA="
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8="
 }
\ No newline at end of file
diff --git a/dimos/perception/depth2depth_cloud/rust/flake.nix b/dimos/perception/depth2depth_cloud/rust/flake.nix
index 14d86bcec2b..2901288ad19 100644
--- a/dimos/perception/depth2depth_cloud/rust/flake.nix
+++ b/dimos/perception/depth2depth_cloud/rust/flake.nix
@@ -1,5 +1,5 @@
 {
-  description = "depth2depth_cloud native module for DimOS: the depth2depth crate behind an LCM wrapper";
+  description = "depth2depth_cloud native module for DimOS: the depth2depth crate with CDR messages over the selected transport";
 
   inputs = {
     nix-filter.url = "github:numtide/nix-filter";
@@ -32,7 +32,30 @@
         cudaPackages = if system == "aarch64-linux" then pkgs.cudaPackages_12_6 else pkgs.cudaPackages_12_8;
 
         name = "dimos-depth2depth-cloud";
-        src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; };
+        moduleSource = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; };
+        sharedArchive = pkgs.fetchurl {
+          url = "https://codeload.github.com/dimensionalOS/dimos/tar.gz/b547716883d0f2619e53d241351357347400a40a";
+          sha256 = "1ec7f63d9ff57a3e5f151009a2b71472b2c90a3c4f17c29f98a6215cbef18c6b";
+        };
+        sharedSource = pkgs.runCommand "dimos-depth-cloud-sdk-source" {
+          nativeBuildInputs = [ pkgs.gnutar pkgs.gzip ];
+        } ''
+          mkdir -p $out
+          tar -xzf ${sharedArchive} --strip-components=1 -C $out
+        '';
+        messageSource = (import "${sharedSource}/native/message-source.nix" { inherit pkgs; }).source;
+        # Cargo resolves only these explicit local paths. No checkout or generation
+        # process is needed at runtime; the message derivation is shared with pip.
+        src = pkgs.runCommand "depth-cloud-cdr-source" { } ''
+          cp -r ${moduleSource} $out
+          chmod -R u+w $out
+          mkdir -p $out/sdk
+          cp -r ${sharedSource}/native/rust/dimos-module ${sharedSource}/native/rust/dimos-module-macros $out/sdk/
+          cp -r ${messageSource}/rust $out/messages
+          substituteInPlace $out/Cargo.toml \
+            --replace-fail '../../../../native/rust/dimos-module' 'sdk/dimos-module' \
+            --replace-fail '../../../../build/message-source/rust' 'messages'
+        '';
         generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; };
 
         ours = [ name "dimos-module" "dimos-module-macros" ];
diff --git a/dimos/perception/depth2depth_cloud/rust/src/module.rs b/dimos/perception/depth2depth_cloud/rust/src/module.rs
index 3e40d6498c4..12246ff5bd6 100644
--- a/dimos/perception/depth2depth_cloud/rust/src/module.rs
+++ b/dimos/perception/depth2depth_cloud/rust/src/module.rs
@@ -31,10 +31,15 @@ use std::time::{Duration, Instant};
 use depth2depth::{
     Calibration, CalibrationConfig, CloudOptions, Config as ModelConfig, Depth2Depth,
 };
-use dimos_module::pointcloud::extract_xyz;
+use dimos_generated_messages::builtin_interfaces::msg::time::Time;
+use dimos_generated_messages::sensor_msgs::msg::camera_info::CameraInfo;
+use dimos_generated_messages::sensor_msgs::msg::compressed_image::CompressedImage;
+use dimos_generated_messages::sensor_msgs::msg::point_cloud2::PointCloud2;
+use dimos_generated_messages::sensor_msgs::msg::point_field::PointField;
+use dimos_generated_messages::std_msgs::msg::header::Header;
+use dimos_module::cdr;
+use dimos_module::pointcloud::{extract_xyz_rows, ExtractError};
 use dimos_module::{native_config, warn_throttled, Input, Module, Output, Tf};
-use lcm_msgs::sensor_msgs::{CameraInfo, CompressedImage, PointCloud2, PointField};
-use lcm_msgs::std_msgs::{Header, Time};
 use nalgebra::{Isometry3, Point3};
 use tokio::sync::Notify;
 use tokio::task::JoinHandle;
@@ -42,6 +47,124 @@ use tracing::info;
 
 use crate::undistort::{Lens, UndistortMap};
 
+fn encode_cloud(cloud: &PointCloud2) -> Vec<u8> {
+    cdr::encode(cloud).expect("serialize a valid generated PointCloud2")
+}
+
+fn extract_xyz(cloud: &PointCloud2) -> Result<Vec<[f32; 3]>, ExtractError> {
+    let offset = |name: &str| {
+        cloud
+            .fields
+            .iter()
+            .find(|field| {
+                field.name == name && field.datatype == PointField::FLOAT32 && field.count == 1
+            })
+            .map(|field| field.offset as usize)
+            .ok_or(ExtractError("missing a scalar float32 xyz field"))
+    };
+    extract_xyz_rows(
+        &cloud.data,
+        [cloud.width as usize, cloud.height as usize],
+        [cloud.point_step as usize, cloud.row_step as usize],
+        [offset("x")?, offset("y")?, offset("z")?],
+        cloud.is_bigendian,
+    )
+}
+
+fn decode_tf(bytes: &[u8]) -> std::io::Result<Vec<dimos_module::tf::Transform>> {
+    use dimos_generated_messages::tf2_msgs::msg::tf_message::TFMessage;
+    use nalgebra::{Quaternion, Translation3, UnitQuaternion};
+    let message: TFMessage = cdr::decode(bytes)?;
+    message
+        .transforms
+        .into_iter()
+        .map(|edge| {
+            let p = edge.transform.translation;
+            let q = edge.transform.rotation;
+            if ![p.x, p.y, p.z, q.x, q.y, q.z, q.w]
+                .iter()
+                .all(|v| v.is_finite())
+            {
+                return Err(std::io::Error::new(
+                    std::io::ErrorKind::InvalidData,
+                    "nonfinite TF components",
+                ));
+            }
+            let rotation = UnitQuaternion::try_new(Quaternion::new(q.w, q.x, q.y, q.z), 1e-9)
+                .ok_or_else(|| {
+                    std::io::Error::new(std::io::ErrorKind::InvalidData, "zero TF quaternion")
+                })?;
+            if edge.header.stamp.nanosec >= 1_000_000_000 {
+                return Err(std::io::Error::new(
+                    std::io::ErrorKind::InvalidData,
+                    "unnormalized TF stamp",
+                ));
+            }
+            Ok(dimos_module::tf::Transform::new(
+                edge.header.frame_id,
+                edge.child_frame_id,
+                seconds(&edge.header.stamp),
+                Isometry3::from_parts(Translation3::new(p.x, p.y, p.z), rotation),
+            ))
+        })
+        .collect()
+}
+
+fn encode_tf(transforms: &[dimos_module::tf::Transform]) -> std::io::Result<Vec<u8>> {
+    use dimos_generated_messages::{
+        geometry_msgs::msg::{
+            quaternion::Quaternion, transform::Transform, transform_stamped::TransformStamped,
+            vector3::Vector3,
+        },
+        tf2_msgs::msg::tf_message::TFMessage,
+    };
+    let transforms = transforms
+        .iter()
+        .map(|value| {
+            let ns = (value.ts * 1e9).round();
+            if !ns.is_finite() || ns < i64::MIN as f64 || ns > i64::MAX as f64 {
+                return Err(std::io::Error::new(
+                    std::io::ErrorKind::InvalidInput,
+                    "TF timestamp is outside range",
+                ));
+            }
+            let ns = ns as i64;
+            let sec = i32::try_from(ns.div_euclid(1_000_000_000)).map_err(|_| {
+                std::io::Error::new(
+                    std::io::ErrorKind::InvalidInput,
+                    "TF seconds exceed ROS int32",
+                )
+            })?;
+            let p = value.translation();
+            let q = value.rotation();
+            Ok(TransformStamped {
+                header: Header {
+                    stamp: Time {
+                        sec,
+                        nanosec: ns.rem_euclid(1_000_000_000) as u32,
+                    },
+                    frame_id: value.parent.clone(),
+                },
+                child_frame_id: value.child.clone(),
+                transform: Transform {
+                    translation: Vector3 {
+                        x: p.x,
+                        y: p.y,
+                        z: p.z,
+                    },
+                    rotation: Quaternion {
+                        x: q.i,
+                        y: q.j,
+                        z: q.k,
+                        w: q.w,
+                    },
+                },
+            })
+        })
+        .collect::<std::io::Result<Vec<_>>>()?;
+    cdr::encode(&TFMessage { transforms })
+}
+
 const TIMING_REPORT_EVERY: Duration = Duration::from_secs(5);
 /// Scans up to this far after a frame still anchor it...
 const SCAN_LEAD_S: f64 = 0.5;
@@ -122,19 +245,19 @@ pub struct Config {
 #[derive(Module)]
 #[module(name = "depth2depth_cloud", setup = start, teardown = stop)]
 pub struct Depth2DepthCloud {
-    #[input(decode = CompressedImage::decode, handler = on_image)]
+    #[input(decode = cdr::decode, handler = on_image)]
     image: Input<CompressedImage>,
 
-    #[input(decode = CameraInfo::decode, handler = on_camera_info)]
+    #[input(decode = cdr::decode, handler = on_camera_info)]
     camera_info: Input<CameraInfo>,
 
-    #[input(decode = PointCloud2::decode, handler = on_lidar)]
+    #[input(decode = cdr::decode, handler = on_lidar)]
     lidar: Input<PointCloud2>,
 
-    #[tf]
+    #[tf(decode = decode_tf, encode = encode_tf)]
     tf: Tf,
 
-    #[output(encode = PointCloud2::encode)]
+    #[output(encode = encode_cloud)]
     depth_cloud: Output<PointCloud2>,
 
     #[config]
@@ -418,8 +541,8 @@ impl Worker {
             };
             let decoded = Instant::now();
             if !undistort.as_ref().is_some_and(|(held, held_width, _)| {
-                held.K == info.K
-                    && held.D == info.D
+                held.k == info.k
+                    && held.d == info.d
                     && held.distortion_model == info.distortion_model
                     && held.width == info.width
                     && *held_width == width
@@ -712,10 +835,10 @@ fn decode_rgb(image: &CompressedImage, scale: usize) -> Option<(Vec<u8>, usize,
 }
 
 fn make_cloud(points: &[[f32; 3]], source: &Header, frame_id: String) -> PointCloud2 {
-    let field = |name: &str, offset: i32| PointField {
+    let field = |name: &str, offset: u32| PointField {
         name: name.into(),
         offset,
-        datatype: PointField::FLOAT32 as u8,
+        datatype: PointField::FLOAT32,
         count: 1,
     };
     let data: Vec<u8> = points
@@ -725,16 +848,15 @@ fn make_cloud(points: &[[f32; 3]], source: &Header, frame_id: String) -> PointCl
         .collect();
     PointCloud2 {
         header: Header {
-            seq: source.seq,
             stamp: source.stamp.clone(),
             frame_id,
         },
         height: 1,
-        width: points.len() as i32,
+        width: points.len() as u32,
         fields: vec![field("x", 0), field("y", 4), field("z", 8)],
         is_bigendian: false,
         point_step: 12,
-        row_step: 12 * points.len() as i32,
+        row_step: 12 * points.len() as u32,
         data,
         is_dense: true,
     }
@@ -754,7 +876,7 @@ fn or_derived(configured: usize, derived: usize) -> usize {
 }
 
 fn seconds(stamp: &Time) -> f64 {
-    stamp.sec as f64 + stamp.nsec as f64 * 1e-9
+    stamp.sec as f64 + stamp.nanosec as f64 * 1e-9
 }
 
 /// Config, then calibration, then image frame, since drivers stamp frames nobody publishes a transform for.
@@ -824,6 +946,48 @@ impl Timing {
 mod tests {
     use super::*;
 
+    #[test]
+    fn generated_cloud_roundtrips_cdr_with_exact_negative_and_epoch_stamps() {
+        for stamp in [
+            Time {
+                sec: -1,
+                nanosec: 999_999_999,
+            },
+            Time {
+                sec: 1_700_000_000,
+                nanosec: 123_456_789,
+            },
+        ] {
+            let header = Header {
+                stamp: stamp.clone(),
+                frame_id: "camera".into(),
+            };
+            let cloud = make_cloud(&[[1., 2., 3.]], &header, "optical".into());
+            let received: PointCloud2 = cdr::decode(&encode_cloud(&cloud)).unwrap();
+            assert_eq!(received.header.stamp.sec, stamp.sec);
+            assert_eq!(received.header.stamp.nanosec, stamp.nanosec);
+            assert_eq!(received.header.frame_id, "optical");
+            assert_eq!(extract_xyz(&received).unwrap(), vec![[1., 2., 3.]]);
+        }
+    }
+
+    #[test]
+    fn cdr_tf_adapter_preserves_frames_and_rejects_wrong_encoding() {
+        let transform = dimos_module::tf::Transform::new(
+            "world",
+            "camera",
+            -0.25,
+            Isometry3::translation(1., 2., 3.),
+        );
+        let decoded = decode_tf(&encode_tf(&[transform]).unwrap()).unwrap();
+        assert_eq!(decoded.len(), 1);
+        assert_eq!(decoded[0].parent, "world");
+        assert_eq!(decoded[0].child, "camera");
+        assert_eq!(decoded[0].ts, -0.25);
+        assert_eq!(decoded[0].translation(), nalgebra::Vector3::new(1., 2., 3.));
+        assert!(decode_tf(&[0, 3, 0, 0]).is_err());
+    }
+
     #[test]
     fn a_stage_behind_takes_the_newest_item_and_counts_the_ones_it_missed() {
         let latest = Latest::default();
@@ -845,8 +1009,12 @@ mod tests {
     #[test]
     fn a_non_jpeg_format_is_refused_rather_than_fed_to_the_decoder() {
         let png = CompressedImage {
+            header: Header {
+                stamp: Time { sec: 0, nanosec: 0 },
+                frame_id: String::new(),
+            },
             format: "png".into(),
-            ..Default::default()
+            data: Vec::new(),
         };
         assert!(decode_rgb(&png, 1).is_none());
     }
@@ -854,8 +1022,7 @@ mod tests {
     #[test]
     fn the_cloud_carries_the_points_and_the_source_stamp() {
         let header = Header {
-            seq: 7,
-            stamp: Time { sec: 3, nsec: 4 },
+            stamp: Time { sec: 3, nanosec: 4 },
             frame_id: "image".into(),
         };
         let cloud = make_cloud(
@@ -867,7 +1034,7 @@ mod tests {
             (
                 cloud.width,
                 cloud.header.frame_id.as_str(),
-                cloud.header.stamp.nsec
+                cloud.header.stamp.nanosec
             ),
             (2, "camera", 4)
         );
diff --git a/dimos/perception/depth2depth_cloud/rust/src/undistort.rs b/dimos/perception/depth2depth_cloud/rust/src/undistort.rs
index 41751feff60..23f1132e9ab 100644
--- a/dimos/perception/depth2depth_cloud/rust/src/undistort.rs
+++ b/dimos/perception/depth2depth_cloud/rust/src/undistort.rs
@@ -16,7 +16,7 @@
 //! projection both assume straight lines stay straight.
 
 use depth2depth::Pinhole;
-use lcm_msgs::sensor_msgs::CameraInfo;
+use dimos_generated_messages::sensor_msgs::msg::camera_info::CameraInfo;
 use rayon::prelude::*;
 
 /// Pinhole + distortion, as it arrives in a `CameraInfo`.
@@ -56,21 +56,21 @@ impl Lens {
     /// The lens as seen in an image `scale` times the calibration's resolution; None without usable intrinsics
     /// or for a distortion model this cannot undistort.
     pub fn from_info(info: &CameraInfo, scale: f64) -> Option<Self> {
-        let (fx, fy) = (info.K[0], info.K[4]);
+        let (fx, fy) = (info.k[0], info.k[4]);
         if !(fx > 0.0 && fy > 0.0 && fx.is_finite() && fy.is_finite()) {
             return None;
         }
         let model = Model::from_name(&info.distortion_model)?;
         // Eight coefficients mean the rational model whatever `distortion_model` claims; some drivers mislabel it plumb_bob.
         let mut distortion = [0.0; 8];
-        for (slot, value) in distortion.iter_mut().zip(&info.D) {
+        for (slot, value) in distortion.iter_mut().zip(&info.d) {
             *slot = *value;
         }
         Some(Self {
             fx: fx * scale,
             fy: fy * scale,
-            cx: (info.K[2] + 0.5) * scale - 0.5,
-            cy: (info.K[5] + 0.5) * scale - 0.5,
+            cx: (info.k[2] + 0.5) * scale - 0.5,
+            cy: (info.k[5] + 0.5) * scale - 0.5,
             model,
             distortion,
         })
@@ -185,9 +185,27 @@ mod tests {
         CameraInfo {
             width: 1920,
             height: 1536,
-            K: [1000.0, 0.0, 959.5, 0.0, 1000.0, 767.5, 0.0, 0.0, 1.0],
-            D: coefficients.to_vec(),
-            ..Default::default()
+            k: [1000.0, 0.0, 959.5, 0.0, 1000.0, 767.5, 0.0, 0.0, 1.0],
+            d: coefficients.to_vec(),
+            header: dimos_generated_messages::std_msgs::msg::header::Header {
+                stamp: dimos_generated_messages::builtin_interfaces::msg::time::Time {
+                    sec: 0,
+                    nanosec: 0,
+                },
+                frame_id: String::new(),
+            },
+            distortion_model: "plumb_bob".into(),
+            r: [0.; 9],
+            p: [0.; 12],
+            binning_x: 0,
+            binning_y: 0,
+            roi: dimos_generated_messages::sensor_msgs::msg::region_of_interest::RegionOfInterest {
+                x_offset: 0,
+                y_offset: 0,
+                width: 0,
+                height: 0,
+                do_rectify: false,
+            },
         }
     }
 
@@ -227,7 +245,7 @@ mod tests {
         let mut head = info(&[
             -0.6792, -0.638, 0.0002, -0.0002, -0.0302, -0.2868, -0.9987, -0.1752,
         ]);
-        head.K = [1012.59, 0.0, 962.21, 0.0, 1012.13, 765.67, 0.0, 0.0, 1.0];
+        head.k = [1012.59, 0.0, 962.21, 0.0, 1012.13, 765.67, 0.0, 0.0, 1.0];
         let lens = Lens::from_info(&head, 1.0).unwrap();
         for ((x, y), (u, v)) in [
             ((-0.9467, -0.7570), (300.77, 237.5)),
@@ -246,7 +264,7 @@ mod tests {
         // The Go2 front camera (front_camera_720.yaml); OpenCV's fisheye::distortPoints puts these rays here.
         let mut go2 = info(&[-0.0730943, -0.0234114, -0.0069306, 0.0092387]);
         go2.distortion_model = "equidistant".into();
-        go2.K = [
+        go2.k = [
             797.4756, 0.0, 643.5352, 0.0, 796.4872, 349.2784, 0.0, 0.0, 1.0,
         ];
         let lens = Lens::from_info(&go2, 1.0).unwrap();
@@ -274,7 +292,7 @@ mod tests {
     #[test]
     fn zero_focal_length_is_refused() {
         let mut bad = info(&[0.0; 5]);
-        bad.K[0] = 0.0;
+        bad.k[0] = 0.0;
         assert!(Lens::from_info(&bad, 1.0).is_none());
     }
 
diff --git a/dimos/perception/depth2depth_cloud/test_depth2depth_cloud_config.py b/dimos/perception/depth2depth_cloud/test_depth2depth_cloud_config.py
index d04478f913b..47ba6aa1ad9 100644
--- a/dimos/perception/depth2depth_cloud/test_depth2depth_cloud_config.py
+++ b/dimos/perception/depth2depth_cloud/test_depth2depth_cloud_config.py
@@ -16,15 +16,16 @@
 
 from __future__ import annotations
 
+from pathlib import Path
 import re
 
 from pydantic import ValidationError
 import pytest
 
-from dimos.constants import DIMOS_PROJECT_ROOT
+from dimos.perception.depth2depth_cloud import module
 from dimos.perception.depth2depth_cloud.module import Depth2DepthCloudConfig
 
-RUST_MODULE = DIMOS_PROJECT_ROOT / "dimos/perception/depth2depth_cloud/rust/src/module.rs"
+RUST_MODULE = Path(__file__).with_name("rust") / "src/module.rs"
 
 
 def test_every_field_the_rust_config_requires_is_sent():
@@ -59,8 +60,6 @@ def test_a_jpeg_scale_the_decoder_cannot_do_is_refused():
 
 
 def test_an_nvidia_gpu_builds_tensorrt_and_anything_else_the_cpu_build(monkeypatch):
-    from dimos.perception.depth2depth_cloud import module
-
     monkeypatch.setattr(module, "has_nvidia_gpu", lambda: False)
     assert Depth2DepthCloudConfig().build_command == "nix build -L path:."
     monkeypatch.setattr(module, "has_nvidia_gpu", lambda: True)
diff --git a/dimos/robot/unitree/go2/dds/rust/Cargo.lock b/dimos/robot/unitree/go2/dds/rust/Cargo.lock
index d0f71e3b2e3..6498e911a01 100644
--- a/dimos/robot/unitree/go2/dds/rust/Cargo.lock
+++ b/dimos/robot/unitree/go2/dds/rust/Cargo.lock
@@ -667,7 +667,7 @@ dependencies = [
  "cdr",
  "cyclonedds-rs",
  "dimos-module",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen)",
  "serde",
  "serde-big-array",
  "serde_json",
@@ -679,7 +679,7 @@ dependencies = [
 [[package]]
 name = "dimos-lcm"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#04d78e8622500244123ba9cefa4c51b4cb454549"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
 dependencies = [
  "byteorder",
  "socket2 0.5.10",
@@ -689,11 +689,11 @@ dependencies = [
 [[package]]
 name = "dimos-module"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "dimos-lcm",
  "dimos-module-macros",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549)",
  "nalgebra",
  "rayon",
  "serde",
@@ -709,7 +709,7 @@ dependencies = [
 [[package]]
 name = "dimos-module-macros"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1513,6 +1513,14 @@ dependencies = [
  "byteorder",
 ]
 
+[[package]]
+name = "lcm-msgs"
+version = "0.1.0"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "libc"
 version = "0.2.189"
diff --git a/dimos/robot/unitree/go2/dds/rust/Cargo.toml b/dimos/robot/unitree/go2/dds/rust/Cargo.toml
index e9c79457575..822d6d05f69 100644
--- a/dimos/robot/unitree/go2/dds/rust/Cargo.toml
+++ b/dimos/robot/unitree/go2/dds/rust/Cargo.toml
@@ -16,7 +16,7 @@ path = "src/bin/go2_dds.rs"
 [dependencies]
 # Our forks, vendored: the robot has no GitHub access. See vendor/*/Cargo.toml.
 cyclonedds-rs = { path = "vendor/cyclonedds-rs", default-features = false }
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "fbbd1b5233886cc2cd4aa64756e730bb63c443e3" }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
 serde = { version = "1", features = ["derive"] }
 serde-big-array = "0.5"
diff --git a/dimos/robot/unitree/go2/dds/rust/crate-hashes.json b/dimos/robot/unitree/go2/dds/rust/crate-hashes.json
index 4c5fde86d6c..e5e671115ab 100644
--- a/dimos/robot/unitree/go2/dds/rust/crate-hashes.json
+++ b/dimos/robot/unitree/go2/dds/rust/crate-hashes.json
@@ -1,6 +1,7 @@
 {
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
   "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module-macros@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA="
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module-macros@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M="
 }
\ No newline at end of file
diff --git a/examples/native-modules/rust/Cargo.lock b/examples/native-modules/rust/Cargo.lock
index 5d93b115412..294151795fd 100644
--- a/examples/native-modules/rust/Cargo.lock
+++ b/examples/native-modules/rust/Cargo.lock
@@ -582,7 +582,7 @@ dependencies = [
 [[package]]
 name = "dimos-lcm"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#04d78e8622500244123ba9cefa4c51b4cb454549"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
 dependencies = [
  "byteorder",
  "socket2 0.5.10",
@@ -592,11 +592,11 @@ dependencies = [
 [[package]]
 name = "dimos-module"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "dimos-lcm",
  "dimos-module-macros",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549)",
  "nalgebra",
  "rayon",
  "serde",
@@ -612,7 +612,7 @@ dependencies = [
 [[package]]
 name = "dimos-module-macros"
 version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#6663bcb6e5e18f43a6cb9cf77ccbec613e310443"
+source = "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#fbbd1b5233886cc2cd4aa64756e730bb63c443e3"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -625,7 +625,7 @@ name = "dimos-native-module-examples"
 version = "0.1.0"
 dependencies = [
  "dimos-module",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen)",
  "serde",
  "tokio",
  "tracing",
@@ -1403,6 +1403,14 @@ dependencies = [
  "byteorder",
 ]
 
+[[package]]
+name = "lcm-msgs"
+version = "0.1.0"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#04d78e8622500244123ba9cefa4c51b4cb454549"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "libc"
 version = "0.2.189"
diff --git a/examples/native-modules/rust/Cargo.toml b/examples/native-modules/rust/Cargo.toml
index b7d0cf69700..13623541665 100644
--- a/examples/native-modules/rust/Cargo.toml
+++ b/examples/native-modules/rust/Cargo.toml
@@ -20,7 +20,7 @@ name = "tf_broadcaster"
 path = "src/tf_broadcaster.rs"
 
 [dependencies]
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "fbbd1b5233886cc2cd4aa64756e730bb63c443e3" }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
 tokio = { version = "1", features = ["rt-multi-thread", "macros", "time"] }
 serde = { version = "1", features = ["derive"] }
diff --git a/examples/native-modules/rust/crate-hashes.json b/examples/native-modules/rust/crate-hashes.json
index 4c5fde86d6c..e5e671115ab 100644
--- a/examples/native-modules/rust/crate-hashes.json
+++ b/examples/native-modules/rust/crate-hashes.json
@@ -1,6 +1,7 @@
 {
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
   "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module-macros@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA="
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module-macros@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M=",
+  "git+https://github.com/dimensionalOS/dimos?rev=fbbd1b5233886cc2cd4aa64756e730bb63c443e3#dimos-module@0.1.0": "sha256-8kEU7z2EQmAf+MGMbnBKuvEl76V1Hfj2dvQGTTpI47M="
 }
\ No newline at end of file
diff --git a/native/rust/dimos-module/src/pointcloud.rs b/native/rust/dimos-module/src/pointcloud.rs
index 31b8ef0aee6..1e6b7ddba7a 100644
--- a/native/rust/dimos-module/src/pointcloud.rs
+++ b/native/rust/dimos-module/src/pointcloud.rs
@@ -58,45 +58,78 @@ pub fn extract_xyz(msg: &PointCloud2) -> Result<Vec<[f32; 3]>, ExtractError> {
     if step == 0 {
         return Err(ExtractError("point_step is 0"));
     }
-    let n = count(msg.width, "negative width")?
-        .checked_mul(count(msg.height, "negative height")?)
-        .ok_or(ExtractError("width*height overflows"))?;
-    let needed = n
+    let width = count(msg.width, "negative width")?;
+    let height = count(msg.height, "negative height")?;
+    let row_step = width
         .checked_mul(step)
-        .ok_or(ExtractError("width*height*point_step overflows"))?;
-    if msg.data.len() < needed {
-        return Err(ExtractError(
-            "data buffer shorter than width*height*point_step",
-        ));
-    }
-    for off in [xo, yo, zo] {
-        if off.checked_add(4).is_none_or(|end| end > step) {
+        .ok_or(ExtractError("row size overflows"))?;
+    extract_xyz_rows(
+        &msg.data,
+        [width, height],
+        [step, row_step],
+        [xo, yo, zo],
+        false,
+    )
+}
+
+/// Read finite float32 xyz values from validated field offsets, respecting row padding.
+/// Message adapters retain their own schema types and pass only the wire layout here.
+pub fn extract_xyz_rows(
+    data: &[u8],
+    dimensions: [usize; 2],
+    steps: [usize; 2],
+    offsets: [usize; 3],
+    big_endian: bool,
+) -> Result<Vec<[f32; 3]>, ExtractError> {
+    let [width, height] = dimensions;
+    let [step, row_step] = steps;
+    if step == 0 {
+        return Err(ExtractError("point_step is 0"));
+    }
+    let packed = width
+        .checked_mul(step)
+        .ok_or(ExtractError("row size overflows"))?;
+    if row_step < packed {
+        return Err(ExtractError("row_step is shorter than a row"));
+    }
+    let needed = height
+        .checked_mul(row_step)
+        .ok_or(ExtractError("row buffer size overflows"))?;
+    if data.len() < needed {
+        return Err(ExtractError("data buffer shorter than rows"));
+    }
+    for offset in offsets {
+        if offset.checked_add(4).is_none_or(|end| end > step) {
             return Err(ExtractError(
                 "xyz field offsets do not fit within point_step",
             ));
         }
     }
-
-    let mut out = Vec::with_capacity(n);
-    for base in (0..needed).step_by(step) {
-        let x = read_f32_le(&msg.data, base + xo);
-        let y = read_f32_le(&msg.data, base + yo);
-        let z = read_f32_le(&msg.data, base + zo);
-        if x.is_finite() && y.is_finite() && z.is_finite() {
-            out.push([x, y, z]);
+    let mut out = Vec::new();
+    if width == 0 || height == 0 {
+        return Ok(out);
+    }
+    for row in 0..height {
+        for column in 0..width {
+            let base = row * row_step + column * step;
+            let point = offsets.map(|offset| {
+                let bytes: [u8; 4] = data[base + offset..base + offset + 4]
+                    .try_into()
+                    .expect("bounds checked above");
+                if big_endian {
+                    f32::from_be_bytes(bytes)
+                } else {
+                    f32::from_le_bytes(bytes)
+                }
+            });
+            if point.iter().all(|value| value.is_finite()) {
+                out.push(point);
+            }
         }
     }
     Ok(out)
 }
 
-#[inline]
-fn read_f32_le(buf: &[u8], off: usize) -> f32 {
-    let bytes: [u8; 4] = buf[off..off + 4]
-        .try_into()
-        .expect("bounds checked by caller");
-    f32::from_le_bytes(bytes)
-}
-
 #[cfg(test)]
 mod tests {
     use super::*;
@@ -129,6 +162,40 @@ mod tests {
         }
     }
 
+    #[test]
+    fn padded_rows_and_both_byte_orders_preserve_finite_points() {
+        for big_endian in [false, true] {
+            let mut bytes = Vec::new();
+            for xyz in [[1.0f32, 2.0, 3.0], [4.0, 5.0, 6.0]] {
+                for value in xyz {
+                    bytes.extend(if big_endian {
+                        value.to_be_bytes()
+                    } else {
+                        value.to_le_bytes()
+                    });
+                }
+                bytes.extend([255u8; 4]);
+            }
+            assert_eq!(
+                extract_xyz_rows(&bytes, [1, 2], [12, 16], [0, 4, 8], big_endian).unwrap(),
+                vec![[1., 2., 3.], [4., 5., 6.]]
+            );
+        }
+    }
+
+    #[test]
+    fn malformed_row_layouts_are_rejected_before_allocation_or_indexing() {
+        for (dimensions, steps, offsets) in [
+            ([1, 1], [12, 11], [0, 4, 8]),
+            ([1, 2], [12, 16], [0, 4, 8]),
+            ([1, 1], [12, 12], [0, 4, usize::MAX]),
+            ([usize::MAX, 1], [12, 12], [0, 4, 8]),
+            ([1, usize::MAX], [12, 16], [0, 4, 8]),
+        ] {
+            assert!(extract_xyz_rows(&[0; 16], dimensions, steps, offsets, false).is_err());
+        }
+    }
+
     #[test]
     fn drops_non_finite_points_and_moves_nothing() {
         let cloud = cloud_of(&[[1.0, 2.0, 0.3], [f32::NAN, 0.0, 0.0], [0.0, 0.0, 0.0]]);