feat(robots): consolidate canonical CDR robot and simulation adapters

dimos/core/transport.py

@@ -25,6 +25,7 @@
     cast,
 )
 
+from dimos_cdrgen.registry import message_types
 import numpy as np
 
 from dimos.core.stream import Stream, Transport
@@ -199,21 +200,23 @@ class ROSTransport(PubSubTransport[DimosMsg]):
     _ros: DimosROS | None = None
 
     def __init__(self, topic: str, msg_type: type[DimosMsg], **kwargs: Any) -> None:
-        # TODO: Revisit generated-message adapters; ROS also uses CDR encoding.
-        if hasattr(msg_type, "__msgtype__") and describe_message(msg_type).encoding == "cdr":
-            raise TypeError(
-                "Generated messages require a ROS type adapter; raw CDR is not a ROS message"
-            )
+        # Generated values require a canonical registry identity and a ROS type adapter.
+        if hasattr(msg_type, "__msgtype__"):
+            name = getattr(msg_type, "__msgtype__", None)
+            if not isinstance(name, str) or message_types().get(name) is not msg_type:
+                raise TypeError("ROS transport requires a registry-owned generated message class")
         # rclpy (about 0.1 s with rospubsub): only loaded when a ROSTransport exists.
         from dimos.protocol.pubsub.impl.rospubsub import ROSTopic
 
         super().__init__(ROSTopic(topic, msg_type))
         self._kwargs = kwargs
 
     def __reduce__(self) -> tuple[Any, ...]:
-        return (ROSTransport, (self.topic.topic, self.topic.msg_type))
+        return (partial(ROSTransport, **self._kwargs), (self.topic.topic, self.topic.msg_type))
 
     def broadcast(self, _: Stream[DimosMsg] | None, msg: DimosMsg) -> None:
+        if not isinstance(msg, self.topic.msg_type):
+            raise TypeError("Message does not match the ROS transport declared type")
         if self._ros is None:
             self.start()
             assert self._ros is not None  # for type narrowing

dimos/hardware/drive_trains/transport/adapter.py

@@ -24,9 +24,8 @@
 from typing import Any
 
 from dimos.core.transport_factory import make_transport
-from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
-from dimos.msgs.geometry_msgs.Twist import Twist
-from dimos.msgs.geometry_msgs.Vector3 import Vector3
+from dimos.message_utils.geometry import quaternion_euler
+from dimos.messages.geometry_msgs.msg import PoseStamped, Twist, Vector3
 from dimos.utils.logging_config import setup_logger
 
 logger = setup_logger()
@@ -141,7 +140,11 @@ def read_enabled(self) -> bool:
 
     def _on_odom(self, msg: PoseStamped) -> None:
         with self._lock:
-            self._latest_odom = [msg.x, msg.y, msg.yaw]
+            self._latest_odom = [
+                msg.pose.position.x,
+                msg.pose.position.y,
+                quaternion_euler(msg.pose.orientation)[2],
+            ]
 
 
 def transport_lcm_factory(**kwargs: Any) -> TransportTwistAdapter:

dimos/hardware/whole_body/transport/adapter.py

@@ -15,7 +15,11 @@
 """Transport-based whole-body adapter: bridges coordinator ↔ Module via pub/sub.
 
 Subscribes /{hardware_id}/motor_states + /{hardware_id}/imu, publishes
-/{hardware_id}/motor_command. ``network_interface`` is accepted but ignored.
+/{hardware_id}/motor_command. The normal factory selects generated CDR on the
+configured LCM/Zenoh backend. ``network_interface`` is accepted but ignored.
+The existing ``transport_lcm`` registry key keeps its name and API; encoding
+follows the canonical message type, while internal MotorState/MotorCommand
+numerical values are adapted explicitly at these three wire edges.
 """
 
 from __future__ import annotations
@@ -24,12 +28,14 @@
 import threading
 from typing import Any
 
+import numpy as np
+
 from dimos.core.transport_factory import make_transport
 from dimos.hardware.spec import JointLimits
 from dimos.hardware.whole_body.spec import IMUState, MotorCommand, MotorState
-from dimos.msgs.sensor_msgs.Imu import Imu
-from dimos.msgs.sensor_msgs.JointState import JointState
-from dimos.msgs.sensor_msgs.MotorCommandArray import MotorCommandArray
+from dimos.message_utils.time import header_now
+from dimos.messages.dimos_msgs.msg import MotorCommandArray
+from dimos.messages.sensor_msgs.msg import Imu, JointState
 from dimos.utils.logging_config import setup_logger
 
 logger = setup_logger()
@@ -135,11 +141,12 @@ def write_motor_commands(self, commands: list[MotorCommand]) -> bool:
             return False
 
         msg = MotorCommandArray(
-            q=[c.q for c in commands],
-            dq=[c.dq for c in commands],
-            kp=[c.kp for c in commands],
-            kd=[c.kd for c in commands],
-            tau=[c.tau for c in commands],
+            header=header_now(),
+            q=np.asarray([c.q for c in commands], dtype=np.float64),
+            dq=np.asarray([c.dq for c in commands], dtype=np.float64),
+            kp=np.asarray([c.kp for c in commands], dtype=np.float64),
+            kd=np.asarray([c.kd for c in commands], dtype=np.float64),
+            tau=np.asarray([c.tau for c in commands], dtype=np.float64),
         )
         self._motor_command_transport.publish(msg)
         return True