[TomCC7]

Migrate mapping and navigation messages to generated CDR types while keeping the existing algorithms. This includes occupancy grids, clouds, paths, goals, followers and explicit map region IDs.

Base: #4734. Region definitions and their tests stay here. Native mapper, MLS, local planner and trajectory follower now bind public SDK encoders and the shared integer-nanosecond TF adapters from #4774. Delete duplicate TF conversions and codec-only wrappers; retain real pointcloud layout conversion. Nix builds pin the corrected SDK source and include the independent message-adapter crate.

Final combined-stack validation: mapper 102 tests, MLS 135, local planner 93, follower 63. Six real Python/native integration tests pass with generated clouds, regions and paths. Source staging from the actual pinned archive passes locked Cargo dependency checks; full Nix builds were not run. The broader Python mapping suite and whole-graph cutover were not rerun for this codec change.

Existing algorithm and boundary review: #4737 (comment)

Shared CDR foundation

Standard ROS definitions are fetched and verified through the existing source lock and generation pipeline in #4366. Native SDK support is included in #4722. Shared Python value implementations and regressions are reviewed in #4800–#4803 before the #4734 caller migration. SDK and consumers use the same generated Rust message crate, including Time, TransformStamped and TFMessage; there is no separate TF schema package or generation command. Camera/depth callers migrate in #4734 and mapping/navigation callers in #4737.

The external CDR and transforms library pins remain unchanged. Local verification passed 122 SDK tests, all existing native consumer suites, and all 24 real native/DimSim/port acceptance tests without skips. Seven staged Nix source layouts resolve exactly one message crate with locked Cargo metadata. This is not a full Nix build or hardware validation. Fresh CI runs verify #4722 independently and the combined stack tip.

Stack #4804 contains the 12 original feature PRs and four separately reviewed adapter/buffer PRs (#4800–#4803). The redundant #4774 is superseded by #4722. No feature PR has been merged into main; existing conflicts with main and the WIP cutover failures in #4739 remain.

[TomCC7]

Review report

Updated: 2026-10-21. Direct predecessor: #4734.

• Head: f46ed9ce6b23a3c4ec1a48adaeeeef1eb4eca9b1
• Named base branch: cc/feat/cdr-unit-perception at f59b609c27f5cc62124a438e7890c15e1fc8f38c
• PR-recorded base: f59b609c27f5cc62124a438e7890c15e1fc8f38c; diff merge base: f59b609c27f5cc62124a438e7890c15e1fc8f38c

What changes and why the diff is large

Migrate mapping/navigation callers from wrapper-owned numerical methods to generated messages plus explicit helpers. The unit covers occupancy grids, map storage/CLI, relocalization, graph/loop closure, A* safety/planning, native planners and followers; it also adds explicit region definitions.
Most files migrate consumers of wrapper-owned numerical methods. Occupancy and pointcloud extensions now use the shared message_utils namespace; role totals are shown below.

Review map

Suggested entry points: dimos/message_utils/occupancy.py, dimos/message_utils/pointcloud.py, packages/dimos-generated/custom/dimos_msgs/msg/RegionBounds.msg, dimos/mapping/cli/map.py, dimos/navigation/go2/replanning_a_star/global_planner.py.
All 145 changed files are accounted for below. Grouping is by file role, not a claim that the implementation is minimal.

Complete file map

Implementation (85)

File	Change	Purpose
dimos/mapping/cli/map.py	modified	Use generated TransformStamped, CameraInfo, Image in _camera_info_static, _accumulate.
dimos/mapping/cli/pose_fill.py	modified	Use generated Transform, Quaternion, Vector3 in pose_fill, pose_fill_db.
dimos/mapping/cli/replay.py	modified	Use generated PointCloud2, PoseStamped, Odometry in _log_clouds, main.
dimos/mapping/cli/replay_marker.py	modified	Use generated Image, PointCloud2 in main.
dimos/mapping/cli/view.py	modified	Use generated PointCloud2 in main.
dimos/mapping/costmapper.py	modified	Use generated OccupancyGrid, PointCloud2 in _calculate_costmap, _apply_initial_safe_radius.
dimos/mapping/occupancy/extrude_occupancy.py	modified	Adapt identify_convex_shapes, generate_mujoco_scene for this unit's message/value flow.
dimos/mapping/occupancy/gradient.py	modified	Adapt gradient, voronoi_gradient for this unit's message/value flow.
dimos/mapping/occupancy/inflation.py	modified	Adapt simple_inflate for this unit's message/value flow.
dimos/mapping/occupancy/operations.py	modified	Use generated Point, OccupancyGrid in _grid_values, _grid_coordinates.
dimos/mapping/occupancy/path_map.py	modified	Adapt make_navigation_map for this unit's message/value flow.
dimos/mapping/occupancy/path_mask.py	modified	Use generated PoseStamped, OccupancyGrid, Path in make_path_mask.
dimos/mapping/occupancy/path_resampling.py	modified	Use generated Point, Pose, PoseStamped in _pose, _new_pose.
dimos/mapping/occupancy/visualizations.py	modified	Use generated PoseStamped, OccupancyGrid, Path in _map_image, visualize_occupancy_grid.
dimos/mapping/occupancy/visualize_path.py	modified	Use generated PoseStamped, OccupancyGrid, Path in visualize_path.
dimos/mapping/odometry_hist.py	modified	Use generated PoseStamped, Odometry, Path in path_at_true_height, __init__.
dimos/mapping/pointclouds/occupancy.py	modified	Use generated Point, Pose, Quaternion in _cloud_points, _legacy_stamp.
dimos/mapping/ray_tracing/module.py	modified	Declare/use generated PointCloudRegion, RegionBounds, PointCloud2 at this boundary.
dimos/mapping/ray_tracing/rust/src/lib.rs	modified	Update native lib message/TF handling; review the wire and field changes with its Python caller.
dimos/mapping/ray_tracing/rust/src/module.rs	modified	Update native module message/TF handling; review the wire and field changes with its Python caller.
dimos/mapping/ray_tracing/rust/src/wire.rs	added	Update native wire message/TF handling; review the wire and field changes with its Python caller.
dimos/mapping/ray_tracing/transformer.py	modified	Use generated PointCloud2 in pose_from_tf, attach.
dimos/mapping/ray_tracing/utils/loaded_map.py	modified	Use generated PointCloud2 in place_loaded_map.
dimos/mapping/ray_tracing/viz.py	modified	Use generated PointCloudRegion, PointCloud2 in render_voxel_map, render_map_region.
dimos/mapping/relocalization/blueprints.py	modified	Use generated PointCloud2, TFMessage in _fine_points.
dimos/mapping/relocalization/go2/module.py	modified	Use generated TransformStamped, PointCloud2 in _on_merge_input.
dimos/mapping/relocalization/lidar/module.py	modified	Use generated PointCloud2 in window, clouds.
dimos/mapping/relocalization/lidar/relocalize.py	modified	Use generated TransformStamped, Header in _prepare, relocalize.
dimos/mapping/relocalization/lidar/replay.py	modified	Use generated PointCloud2, TFMessage, TransformStamped in fix_error, recorded_fix.
dimos/mapping/relocalization/lidar/tune.md	modified	Update tune for the functional unit described above.
dimos/mapping/relocalization/lidar/tune.py	modified	Use generated PointCloud2, Header in fixtures, premap_index.
dimos/mapping/relocalization/module.py	modified	Use generated TransformStamped, PointCloud2, TFMessage in yaw_deg, fix_stream.
dimos/mapping/voxels/grid.py	modified	Use generated PointCloud2 in add_points, reproject.
dimos/mapping/voxels/impl/o3d.py	modified	Adapt add_frame, add_points for this unit's message/value flow.
dimos/mapping/voxels/impl/packed.py	modified	Use generated PointCloud2, Header in add_frame, add_points.
dimos/mapping/voxels/module.py	modified	Use generated PointCloud2 in _make_obs, __call__.
dimos/memory/type/observation.py	modified	Adapt _to_tuple, __repr__ for this unit's message/value flow.
dimos/message_utils/occupancy.py	added	Use generated Point, Pose, Quaternion in occupancy_view, block_max_reduce.
dimos/message_utils/pointcloud.py	modified	Use generated TransformStamped, CameraInfo, Image in transform_cloud, pointcloud_with_xyz.
dimos/navigation/base.py	modified	Use generated PoseStamped in set_goal, get_state.
dimos/navigation/global_planner/mls_planner/mls_planner_native.py	modified	Declare/use generated LineSegments3DRegion, PointCloudRegion, RegionBounds at this boundary.
dimos/navigation/global_planner/mls_planner/rust/src/lib.rs	modified	Update native lib message/TF handling; review the wire and field changes with its Python caller.
dimos/navigation/global_planner/mls_planner/rust/src/module.rs	modified	Update native module message/TF handling; review the wire and field changes with its Python caller.
dimos/navigation/global_planner/mls_planner/rust/src/wire.rs	added	Update native wire message/TF handling; review the wire and field changes with its Python caller.
dimos/navigation/global_planner/mls_planner/transformer.py	modified	Use generated Point, Pose, PoseStamped in _path_from_waypoints, __call__.
dimos/navigation/global_planner/mls_planner/viz.py	modified	Use generated LineSegments3D, LineSegments3DRegion, PointCloudRegion in surface_points, render_surface_region.
dimos/navigation/global_planner/viz.py	modified	Use generated PointStamped, Path in render_path, render_goal.
dimos/navigation/go2/loop_closure/module.py	modified	Use generated LineSegment3D, LineSegments3D, Point in _on_lidar, _publish_graph.
dimos/navigation/go2/loop_closure/pgo.py	modified	Use generated Pose, Quaternion, Transform in _obs_to_pose3, _pose3_to_transform.
dimos/navigation/go2/loop_closure/pgo_auto.py	modified	Use generated Quaternion, Transform, TransformStamped in keyframes_to_corrections, make_interpolator.
dimos/navigation/go2/loop_closure/pgo_map.py	modified	Use generated Point, Pose, Quaternion in main, __init__.
dimos/navigation/go2/replanning_a_star/controllers.py	modified	Use generated PoseStamped, Twist, Vector3 in _velocity, advance.
dimos/navigation/go2/replanning_a_star/global_planner.py	modified	Use generated Point, PoseStamped, Twist in cancel_goal, _empty_path.
dimos/navigation/go2/replanning_a_star/goal_validator.py	modified	Use generated Point, OccupancyGrid in _world_point, find_safe_goal.
dimos/navigation/go2/replanning_a_star/local_planner.py	modified	Use generated PoseStamped, Twist, OccupancyGrid in stop_planning, _thread_entrypoint.
dimos/navigation/go2/replanning_a_star/min_cost_astar.py	modified	Use generated Point, Pose, PoseStamped in _reconstruct_path, _reconstruct_path_from_coords.
dimos/navigation/go2/replanning_a_star/module.py	modified	Use generated PointStamped, Pose, PoseStamped in start, _handle_odometry.
dimos/navigation/go2/replanning_a_star/module_spec.py	modified	Declare/use generated PoseStamped at this boundary.
dimos/navigation/go2/replanning_a_star/navigation_map.py	modified	Declare/use generated OccupancyGrid at this boundary.
dimos/navigation/go2/replanning_a_star/path_clearance.py	modified	Use generated OccupancyGrid, Path in __init__, update_costmap.
dimos/navigation/go2/replanning_a_star/path_distancer.py	modified	Use generated PoseStamped, Path in __init__.
dimos/navigation/go2/replanning_a_star/position_tracker.py	modified	Use generated PoseStamped in add_position.
dimos/navigation/go2/replanning_a_star/replan_limiter.py	modified	Use generated Point in can_retry.
dimos/navigation/go2/replanning_a_star/spec.py	modified	Declare/use generated PoseStamped at this boundary.
dimos/navigation/local_planner/native.py	modified	Declare/use generated Path, PointCloud2, TFMessage at this boundary.
dimos/navigation/local_planner/profile.py	modified	Use generated Path in decode_ceilings.
dimos/navigation/local_planner/rust/src/module/msg.rs	modified	Update native msg message/TF handling; review the wire and field changes with its Python caller.
dimos/navigation/local_planner/rust/src/module/planner.rs	modified	Update native planner message/TF handling; review the wire and field changes with its Python caller.
dimos/navigation/local_planner/rust/src/module/tf_pose.rs	modified	Update native tf_pose message/TF handling; review the wire and field changes with its Python caller.
dimos/navigation/local_planner/viz.py	modified	Use generated PoseStamped, Path in _body_centre, render_body.
dimos/navigation/movement_manager/movement_manager.py	modified	Use generated Point, PointStamped, Twist in _on_click, _cancel_goal.
dimos/navigation/spec.py	modified	Declare/use generated PointStamped, Twist, Path at this boundary.
dimos/navigation/tf_pose.py	modified	Use generated PoseStamped in __init__, get.
dimos/navigation/trajectory_follower/basic/module.py	modified	Use generated PoseStamped, Twist, Vector3 in stop, _on_path.
dimos/navigation/trajectory_follower/fancy/controller.py	modified	Use generated PoseStamped, Twist, Path in path_xy_yaw.
dimos/navigation/trajectory_follower/fancy/laws/hinted.py	modified	Use generated PoseStamped, Twist, Vector3 in __init__, update.
dimos/navigation/trajectory_follower/fancy/laws/seed.py	modified	Use generated PoseStamped, Twist, Vector3 in __init__, reset.
dimos/navigation/trajectory_follower/fancy/module.py	modified	Use generated PoseStamped, Twist, Path in __init__, stop.
dimos/navigation/trajectory_follower/fancy/native.py	modified	Declare/use generated Twist, Path, Bool at this boundary.
dimos/navigation/trajectory_follower/fancy/rust/src/module/follower.rs	modified	Update native follower message/TF handling; review the wire and field changes with its Python caller.
dimos/robot/unitree/type/lidar.py	modified	Use generated PointCloud2 in repair_stale_ts, _repair.
dimos/spec/mapping.py	modified	Declare/use generated OccupancyGrid, PointCloud2 at this boundary.
packages/dimos-generated/custom/dimos_msgs/msg/LineSegments3DRegion.msg	added	Define the generated LineSegments3DRegion wire fields and explicit region metadata.
packages/dimos-generated/custom/dimos_msgs/msg/PointCloudRegion.msg	added	Define the generated PointCloudRegion wire fields and explicit region metadata.
packages/dimos-generated/custom/dimos_msgs/msg/RegionBounds.msg	added	Define the generated RegionBounds wire fields and explicit region metadata.

Build and dependency metadata (13)

File	Change	Purpose
dimos/mapping/ray_tracing/rust/Cargo.lock	modified	Update the dependency lock snapshot; LFS-managed contents were not hydrated in this report pass.
dimos/mapping/ray_tracing/rust/Cargo.toml	modified	Update Rust SDK/message dependencies for this native consumer.
dimos/mapping/ray_tracing/rust/flake.nix	modified	Wire native builds to the generated message source and declared dependencies.
dimos/navigation/global_planner/mls_planner/rust/Cargo.lock	modified	Update the dependency lock snapshot; LFS-managed contents were not hydrated in this report pass.
dimos/navigation/global_planner/mls_planner/rust/Cargo.toml	modified	Update Rust SDK/message dependencies for this native consumer.
dimos/navigation/global_planner/mls_planner/rust/flake.nix	modified	Wire native builds to the generated message source and declared dependencies.
dimos/navigation/local_planner/rust/Cargo.lock	modified	Update the dependency lock snapshot; LFS-managed contents were not hydrated in this report pass.
dimos/navigation/local_planner/rust/Cargo.toml	modified	Update Rust SDK/message dependencies for this native consumer.
dimos/navigation/local_planner/rust/flake.nix	modified	Wire native builds to the generated message source and declared dependencies.
dimos/navigation/trajectory_follower/fancy/rust/Cargo.lock	modified	Update the dependency lock snapshot; LFS-managed contents were not hydrated in this report pass.
dimos/navigation/trajectory_follower/fancy/rust/Cargo.toml	modified	Update Rust SDK/message dependencies for this native consumer.
dimos/navigation/trajectory_follower/fancy/rust/flake.lock	modified	Update the dependency lock snapshot; LFS-managed contents were not hydrated in this report pass.
dimos/navigation/trajectory_follower/fancy/rust/flake.nix	modified	Wire native builds to the generated message source and declared dependencies.

Tests (44)

File	Change	Purpose
dimos/mapping/cli/test_cli.py	modified	Checks summary.
dimos/mapping/cli/test_generated_cli.py	added	Checks global cli exports cdr and view reads it.
dimos/mapping/cli/test_pose_fill.py	modified	Checks pose fill attaches nearest pose.
dimos/mapping/occupancy/test_generated_operations.py	added	Checks existing algorithms preserve input identity and exact generated metadata.
dimos/mapping/occupancy/test_generated_path_resampling.py	added	Checks generated resampling keeps exact metadata and matches existing numerics.
dimos/mapping/occupancy/test_generated_rendering.py	added	Checks generated map pixels match existing palette and path overlay.
dimos/mapping/ray_tracing/test_generated_native.py	added	Checks native mapper declares canonical cloud and region ports.
dimos/mapping/ray_tracing/test_transformer.py	modified	Checks emit every n yields on cadence and flushes remainder.
dimos/mapping/ray_tracing/test_viz.py	modified	Checks the height ramp spans the range and clamps outside it.
dimos/mapping/ray_tracing/utils/test_loaded_map.py	modified	Checks first loaded map is none for a missing or empty stream.
dimos/mapping/relocalization/lidar/test_replay.py	modified	Checks fix error wraps yaw and measures translation.
dimos/mapping/relocalization/test_module.py	modified	Checks submit publishes and checks frames.
dimos/mapping/test_generated_costmapper.py	added	Checks generated costmaps match existing math and keep exact header.
dimos/mapping/test_generated_odometry_hist.py	added	Checks interval queue pose stamps replay restart and bound are preserved.
dimos/mapping/voxels/test_generated_stream.py	added	Checks array input matches legacy voxel ingestion.
dimos/mapping/voxels/test_stamped.py	modified	Checks stamped holds the same voxels.
dimos/memory/type/test_observation.py	added	Checks canonical pose payloads normalize metadata without loading or mutation.
dimos/message_utils/test_occupancy.py	added	Checks occupancy cells keep ros row order and do not alias message.
dimos/message_utils/test_pointcloud.py	modified	Checks field counts padding and endianness.
dimos/message_utils/test_regions.py	added	Checks region id and canonical dependency types survive cdr.
dimos/navigation/global_planner/mls_planner/test_generated_native.py	added	Checks mls native ports reuse canonical region and geometry types.
dimos/navigation/global_planner/mls_planner/test_transformer.py	modified	Checks flat floor yields populated path and planned true.
dimos/navigation/global_planner/mls_planner/test_viz.py	modified	Checks surface drops cells below the wall clearance.
dimos/navigation/global_planner/test_viz.py	modified	Checks goal placeholder is not drawn.
dimos/navigation/go2/loop_closure/test_generated_module.py	added	Checks actual pgo module ports publish generated map graph and telemetry.
dimos/navigation/go2/loop_closure/test_pgo.py	modified	Checks state reports keyframes anchored at the latest.
dimos/navigation/go2/loop_closure/test_pgo_auto.py	added	Checks generated corrections preserve frames time and nearest neighbor.
dimos/navigation/go2/loop_closure/test_pgo_map.py	modified	Checks rebuilds on loop closure and respects cooldown.
dimos/navigation/go2/replanning_a_star/test_generated_astar.py	added	Checks generated astar routes around obstacles and retains exact metadata.
dimos/navigation/go2/replanning_a_star/test_generated_planner.py	added	Checks generated p controller retains advance and rotate then drive commands.
dimos/navigation/go2/replanning_a_star/test_generated_safety.py	added	Checks generated safe goal preserves existing search choices and rotated coordinates.
dimos/navigation/go2/replanning_a_star/test_global_planner.py	modified	Checks find wide path with start inside inflation.
dimos/navigation/local_planner/test_generated_native.py	added	Checks native planner declares canonical generated port identities.
dimos/navigation/local_planner/test_profile.py	modified	Checks ceiling is segment length over stamp delta.
dimos/navigation/local_planner/test_viz.py	modified	Checks cdr plan draws without mutating exact source values.
dimos/navigation/movement_manager/test_movement_manager.py	modified	Checks teleop suppresses nav and cancels goal.
dimos/navigation/test_tf_pose.py	modified	Checks tf pose is the world to base edge.
dimos/navigation/trajectory_follower/basic/test_module.py	modified	Checks lookup pose steers from the tf base pose.
dimos/navigation/trajectory_follower/fancy/test_controller.py	modified	Checks on path drives forward.
dimos/navigation/trajectory_follower/fancy/test_generated_native.py	added	Checks native follower declares canonical generated port identities.
dimos/navigation/trajectory_follower/fancy/test_module.py	modified	Checks goal latch fires once then holds.
dimos/navigation/trajectory_follower/fancy/test_rust_parity.py	modified	Checks rust matches python.
dimos/navigation/trajectory_follower/test_generated_ports.py	added	Checks actual generated follower ports drive arrive and preempt over cdr.
dimos/robot/unitree/type/test_lidar.py	modified	Checks init.

Documentation and replay inputs (3)

File	Change	Purpose
docs/capabilities/navigation/deep_dive.md	modified	Update the deep dive guide or replay input for the migrated boundaries.
docs/capabilities/navigation/relocalization.md	modified	Update the relocalization guide or replay input for the migrated boundaries.
docs/platforms/quadruped/go2/index.md	modified	Update the index guide or replay input for the migrated boundaries.

Review focus and scope reductions

• Occupancy utilities and tests are colocated in dimos.message_utils; pointcloud extensions reuse the predecessor's canonical implementation. No helper aliases remain at the removed paths.
• Review numerical parity separately: filtering, occupancy coordinates, frame composition and planner safety. A message-migration title does not prove these computations are unchanged.
• Review region IDs, frame/time and nested schema dependencies with the producers/consumers.
• Native planner codec/Nix changes remain substantive and need native validation.

Validation

Fresh checks on f46ed9ce6b23a3c4ec1a48adaeeeef1eb4eca9b1: 420 helper/occupancy/costmapper/voxel/planner-safety/lidar tests passed, four were deselected by existing markers. Normal isolated editable installation regenerated this layer's region messages and passed. All-files hooks passed with cargo/native lint excluded. A single native follower lockfile conflict was resolved according to this layer's removal of the old dependency; the predecessor bot commit and all original heads remain backed up.

Reproduction commands, not executed here unless stated above

Run from this PR's own checkout root after installing its documented test dependencies. These are selected review entry points, not a claim of full-stack coverage.

uv run pytest dimos/message_utils dimos/mapping/occupancy/test_generated_operations.py dimos/mapping/occupancy/test_generated_path_resampling.py dimos/mapping/occupancy/test_generated_rendering.py dimos/mapping/test_generated_costmapper.py dimos/mapping/test_generated_odometry_hist.py dimos/mapping/voxels/test_generated_stream.py dimos/navigation/go2/replanning_a_star/test_generated_astar.py dimos/navigation/go2/replanning_a_star/test_generated_planner.py dimos/navigation/go2/replanning_a_star/test_generated_safety.py dimos/robot/unitree/type/test_lidar.py

Remaining work

Current predecessor is incorporated. Native planner builds, Clippy/Nix and full robot graph validation remain unverified. The installed-wheel tip checks are described in #4734; they do not certify each intermediate package independently.