From 95cecd49bf70edc97310adcb87aa49c1b4725273 Mon Sep 17 00:00:00 2001
From: cc <cc7@duck.com>
Date: Thu, 22 Oct 2026 11:49:37 -0700
Subject: [PATCH 1/2] fix(sdk): use the external CDR codec and shared message
 adapters

---
 native/message-source.nix                     |   52 +
 native/rust/dimos-message-adapters/Cargo.lock | 4473 +++++++++++++++++
 native/rust/dimos-message-adapters/Cargo.toml |   13 +
 native/rust/dimos-message-adapters/src/lib.rs |   17 +
 native/rust/dimos-message-adapters/src/tf.rs  |  202 +
 native/rust/dimos-module-macros/src/lib.rs    |   98 +-
 native/rust/dimos-module/Cargo.lock           |   14 +-
 native/rust/dimos-module/Cargo.toml           |    8 +-
 native/rust/dimos-module/src/cdr.rs           |  123 +
 native/rust/dimos-module/src/host.rs          |    2 +-
 native/rust/dimos-module/src/lib.rs           |    2 +
 native/rust/dimos-module/src/module.rs        |  174 +-
 native/rust/dimos-module/src/pointcloud.rs    |  123 +-
 native/rust/dimos-module/src/tf.rs            |  275 +-
 14 files changed, 5480 insertions(+), 96 deletions(-)
 create mode 100644 native/message-source.nix
 create mode 100644 native/rust/dimos-message-adapters/Cargo.lock
 create mode 100644 native/rust/dimos-message-adapters/Cargo.toml
 create mode 100644 native/rust/dimos-message-adapters/src/lib.rs
 create mode 100644 native/rust/dimos-message-adapters/src/tf.rs
 create mode 100644 native/rust/dimos-module/src/cdr.rs

diff --git a/native/message-source.nix b/native/message-source.nix
new file mode 100644
index 00000000000..31629077e14
--- /dev/null
+++ b/native/message-source.nix
@@ -0,0 +1,52 @@
+# Copyright 2026 Dimensional Inc.
+# SPDX-License-Identifier: Apache-2.0
+
+# Generate the built-in definitions through the same configuration and core as pip.
+# Nix fetches fixed-hash inputs; the generation builder itself is offline.
+{ pkgs }:
+let
+  generatorWheel = pkgs.fetchurl {
+    url = "https://files.pythonhosted.org/packages/1a/05/cb085e18549a5eced615840b2f607a9c342a8a49c69012964f0568aa309b/dimos_cdrgen-0.1.1-py3-none-any.whl";
+    sha256 = "f85923440196a3028dbd974a913b0ef9320eb12b57770f722e96bc1645a351a2";
+  };
+  generator = pkgs.runCommand "dimos-cdrgen-0.1.1-source" { nativeBuildInputs = [ pkgs.unzip ]; } ''
+    mkdir -p $out
+    unzip -q ${generatorWheel} -d $out
+  '';
+  python = pkgs.python3.withPackages (p: [
+    p.setuptools p.wheel p.pydantic p.empy p.lark p.rosbags p.numpy p.requests
+  ]);
+  product = pkgs.lib.fileset.toSource {
+    root = ../.;
+    fileset = pkgs.lib.fileset.unions [
+      ../pyproject.toml
+      ../dimos/message_codegen/build.py
+      ../packages/dimos-generated/schema-sources.json
+      ../packages/dimos-generated/custom
+    ];
+  };
+  schemaLock = builtins.fromJSON (builtins.readFile ../packages/dimos-generated/schema-sources.json);
+  schemaArchives = map (source: {
+    name = builtins.hashString "sha256" source.url + ".tar.gz";
+    archive = pkgs.fetchurl { inherit (source) url sha256; };
+  }) schemaLock.sources;
+  source = pkgs.runCommand "dimos-generated-message-source" { nativeBuildInputs = [ python ]; } ''
+    cp -r ${product} product
+    chmod -R u+w product
+    mkdir -p cache/archives
+    ${pkgs.lib.concatMapStringsSep "\n" (item: "cp ${item.archive} cache/archives/${item.name}") schemaArchives}
+    export PYTHONPATH="$PWD/product:${generator}:$PYTHONPATH"
+    python3 - <<'PYTHON'
+from pathlib import Path
+from dimos.message_codegen.build import prepare_builtin_sources
+from dimos_cdrgen.source_package import prepare
+prepare_builtin_sources(Path("cache"), offline=True)
+prepare(Path("product"))
+PYTHON
+    cp -r product/build/message-source $out
+    test -f $out/cpp/CMakeLists.txt
+    test -f $out/rust/Cargo.toml
+  '';
+in {
+  inherit generator python source;
+}
diff --git a/native/rust/dimos-message-adapters/Cargo.lock b/native/rust/dimos-message-adapters/Cargo.lock
new file mode 100644
index 00000000000..29287c49ec9
--- /dev/null
+++ b/native/rust/dimos-message-adapters/Cargo.lock
@@ -0,0 +1,4473 @@
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+# It is not intended for manual editing.
+version = 4
+
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+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zenoh-link-udp"
+version = "1.10.1"
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+checksum = "b140e7b65715fe8b29b706b2b9fc3009fc6181346931c8926d290113fe38df4b"
+dependencies = [
+ "async-trait",
+ "libc",
+ "socket2 0.5.10",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "windows-sys 0.61.2",
+ "zenoh-buffers",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-link-quic_datagram",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-macros"
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+ "proc-macro2",
+ "quote",
+ "syn 2.0.119",
+ "zenoh-keyexpr",
+]
+
+[[package]]
+name = "zenoh-plugin-trait"
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+ "libloading",
+ "serde",
+ "stabby",
+ "tracing",
+ "zenoh-config",
+ "zenoh-keyexpr",
+ "zenoh-macros",
+ "zenoh-result",
+ "zenoh-util",
+]
+
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+ "const_format",
+ "rand 0.8.8",
+ "serde",
+ "uhlc",
+ "zenoh-buffers",
+ "zenoh-keyexpr",
+ "zenoh-macros",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zenoh-result"
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+ "anyhow",
+]
+
+[[package]]
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+ "lazy_static",
+ "ron",
+ "serde",
+ "tokio",
+ "tracing",
+ "zenoh-macros",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zenoh-shm"
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+ "advisory-lock",
+ "async-trait",
+ "buddy_system_allocator",
+ "crossbeam-channel",
+ "crossbeam-queue",
+ "nix",
+ "num-traits",
+ "rand 0.8.8",
+ "rlimit",
+ "stabby",
+ "static_assertions",
+ "static_init",
+ "talc",
+ "thread-priority",
+ "tokio",
+ "tracing",
+ "win-sys",
+ "winapi",
+ "zenoh-buffers",
+ "zenoh-core",
+ "zenoh-macros",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zenoh-stats"
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+dependencies = [
+ "ahash",
+ "prometheus-client",
+ "serde_json",
+ "smallvec",
+ "zenoh-keyexpr",
+ "zenoh-protocol",
+]
+
+[[package]]
+name = "zenoh-sync"
+version = "1.10.1"
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+ "arc-swap",
+ "event-listener",
+ "futures",
+ "tokio",
+ "zenoh-buffers",
+ "zenoh-collections",
+ "zenoh-core",
+]
+
+[[package]]
+name = "zenoh-task"
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+ "futures",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-core",
+ "zenoh-runtime",
+]
+
+[[package]]
+name = "zenoh-transport"
+version = "1.10.1"
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+dependencies = [
+ "async-trait",
+ "crossbeam-utils",
+ "flume",
+ "futures",
+ "lazy_static",
+ "lockfree",
+ "lz4_flex",
+ "rand 0.8.8",
+ "ringbuffer-spsc",
+ "serde",
+ "sha3",
+ "static_init",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-buffers",
+ "zenoh-codec",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-crypto",
+ "zenoh-link",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-shm",
+ "zenoh-stats",
+ "zenoh-sync",
+ "zenoh-task",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-util"
+version = "1.10.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "43a473dcc62026b9d9589acc22c62b04cb7dab4070bba5543d2afac741ddf947"
+dependencies = [
+ "async-trait",
+ "const_format",
+ "flume",
+ "home",
+ "humantime",
+ "lazy_static",
+ "libc",
+ "libloading",
+ "pnet_datalink",
+ "schemars 1.2.2",
+ "serde",
+ "serde_json",
+ "shellexpand",
+ "tokio",
+ "tracing",
+ "tracing-subscriber",
+ "winapi",
+ "zenoh-core",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zerocopy"
+version = "0.8.57"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d35102a9f36d089ccae9e4c6802bc118be4487b80aaffc0ab4e0cf5ce92d2873"
+dependencies = [
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.8.57"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "146c01f5ab44258da43cf276c74a2763db2ff3969c9c652c3f2de07041d0b2bc"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.119",
+]
+
+[[package]]
+name = "zerofrom"
+version = "0.1.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ec05a11813ea801ff6d75110ad09cd0824ddba17dfe17128ea0d5f68e6c5272"
+dependencies = [
+ "zerofrom-derive",
+]
+
+[[package]]
+name = "zerofrom-derive"
+version = "0.1.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f75b4683f6c7f45248d4d64056a24298c6281e0993356d7d1b4a1a962ef10d4a"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 3.0.9",
+ "synstructure 0.14.0",
+]
+
+[[package]]
+name = "zeroize"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e13c156562582aa81c60cb29407084cdb54c4164760106ab78e6c5b0858cf64e"
+
+[[package]]
+name = "zerotrie"
+version = "0.2.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4ea269c3bd32f0a32c321907a2ae912ba6f4649bb0fc764a15627e99a7095a3f"
+dependencies = [
+ "displaydoc",
+ "yoke",
+ "zerofrom",
+]
+
+[[package]]
+name = "zerovec"
+version = "0.11.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bb0464e17806c1d976d5cba29399c7f08e516e279e2ba493f63123b5fca67dd8"
+dependencies = [
+ "yoke",
+ "zerofrom",
+ "zerovec-derive",
+]
+
+[[package]]
+name = "zerovec-derive"
+version = "0.11.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "34df6fc39dbd26ddc9c10e6a2984476e13acce22e64e4487636ef494369225da"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 3.0.9",
+]
+
+[[package]]
+name = "zlib-rs"
+version = "0.6.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b268e58e7c693d7c271f93ffc4ba3b380412554231c85bf61ca7af91042a4112"
+
+[[package]]
+name = "zmij"
+version = "1.0.23"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "29666d0abbfad1e3dc4dcf6144730dd3a3ab225bbbdac83319345b1b44ccfc1b"
diff --git a/native/rust/dimos-message-adapters/Cargo.toml b/native/rust/dimos-message-adapters/Cargo.toml
new file mode 100644
index 00000000000..491f8539730
--- /dev/null
+++ b/native/rust/dimos-message-adapters/Cargo.toml
@@ -0,0 +1,13 @@
+[package]
+name = "dimos-message-adapters"
+version = "0.1.0"
+edition = "2021"
+license = "Apache-2.0"
+description = "Generated-message adapters for the dimOS native module SDK"
+
+[workspace]
+
+[dependencies]
+dimos-module = { path = "../dimos-module", features = ["cdr"] }
+dimos-generated-messages = { path = "../../../build/message-source/rust" }
+nalgebra = "0.35.0"
diff --git a/native/rust/dimos-message-adapters/src/lib.rs b/native/rust/dimos-message-adapters/src/lib.rs
new file mode 100644
index 00000000000..8a893dc1b5c
--- /dev/null
+++ b/native/rust/dimos-message-adapters/src/lib.rs
@@ -0,0 +1,17 @@
+// Copyright 2026 Dimensional Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+//! Generated-message adapters for the dimOS native module SDK.
+
+pub mod tf;
diff --git a/native/rust/dimos-message-adapters/src/tf.rs b/native/rust/dimos-message-adapters/src/tf.rs
new file mode 100644
index 00000000000..061f316c429
--- /dev/null
+++ b/native/rust/dimos-message-adapters/src/tf.rs
@@ -0,0 +1,202 @@
+// Copyright 2026 Dimensional Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+//! Canonical generated TF messages at the SDK numeric transform boundary.
+
+use dimos_generated_messages::builtin_interfaces::msg::time::Time;
+use dimos_generated_messages::std_msgs::msg::header::Header;
+use dimos_module::cdr;
+use nalgebra::Isometry3;
+
+pub fn decode(bytes: &[u8]) -> std::io::Result<Vec<dimos_module::Transform>> {
+    from_message(cdr::decode(bytes)?)
+}
+
+pub fn from_message(
+    message: dimos_generated_messages::tf2_msgs::msg::tf_message::TFMessage,
+) -> std::io::Result<Vec<dimos_module::Transform>> {
+    use nalgebra::{Quaternion, Translation3, UnitQuaternion};
+    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::Transform::from_nanoseconds(
+                edge.header.frame_id,
+                edge.child_frame_id,
+                edge.header.stamp.sec as i64 * 1_000_000_000 + edge.header.stamp.nanosec as i64,
+                Isometry3::from_parts(Translation3::new(p.x, p.y, p.z), rotation),
+            ))
+        })
+        .collect()
+}
+
+pub fn encode(transforms: &[dimos_module::Transform]) -> std::io::Result<Vec<u8>> {
+    cdr::encode(&to_message(transforms)?)
+}
+
+pub fn to_message(
+    transforms: &[dimos_module::Transform],
+) -> std::io::Result<dimos_generated_messages::tf2_msgs::msg::tf_message::TFMessage> {
+    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.stamp_nanoseconds().ok_or_else(|| {
+                std::io::Error::new(
+                    std::io::ErrorKind::InvalidInput,
+                    "TF timestamp is outside range",
+                )
+            })?;
+            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();
+            if ![p.x, p.y, p.z, q.i, q.j, q.k, q.w]
+                .iter()
+                .all(|v| v.is_finite())
+            {
+                return Err(std::io::Error::new(
+                    std::io::ErrorKind::InvalidInput,
+                    "nonfinite TF components",
+                ));
+            }
+            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<_>>>()?;
+    Ok(TFMessage { transforms })
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use dimos_module::Transform;
+    use nalgebra::Isometry3;
+
+    #[test]
+    fn canonical_tf_preserves_exact_stamps_and_values_in_both_wire_orders() {
+        for ns in [
+            0,
+            -1,
+            1_700_000_000_000_000_001,
+            1_700_000_000_000_000_002,
+            1_700_000_000_123_456_789,
+        ] {
+            let edge = Transform::from_nanoseconds(
+                "map",
+                "camera",
+                ns,
+                Isometry3::translation(1.0, 2.0, 3.0),
+            );
+            let message = to_message(&[edge]).unwrap();
+            assert_eq!(
+                message.transforms[0].header.stamp.sec as i64 * 1_000_000_000
+                    + message.transforms[0].header.stamp.nanosec as i64,
+                ns
+            );
+            for little in [false, true] {
+                let decoded = decode(&cdr::encode_endian(&message, little).unwrap()).unwrap();
+                assert_eq!(decoded[0].stamp_nanoseconds(), Some(ns));
+                assert_eq!(decoded[0].translation(), nalgebra::Vector3::new(1., 2., 3.));
+                let restored = cdr::decode::<
+                    dimos_generated_messages::tf2_msgs::msg::tf_message::TFMessage,
+                >(&encode(&decoded).unwrap())
+                .unwrap();
+                assert_eq!(restored, message);
+            }
+        }
+    }
+
+    #[test]
+    fn reject_invalid_components_and_time_before_returning_any_edges() {
+        let good =
+            to_message(&[Transform::new("map", "camera", 0., Isometry3::identity())]).unwrap();
+        let mut bad_stamp = good.clone();
+        bad_stamp.transforms[0].header.stamp.nanosec = 1_000_000_000;
+        assert_eq!(
+            from_message(bad_stamp).unwrap_err().kind(),
+            std::io::ErrorKind::InvalidData
+        );
+        let mut bad_rotation = good.clone();
+        bad_rotation.transforms[0].transform.rotation.w = 0.;
+        assert_eq!(
+            from_message(bad_rotation).unwrap_err().kind(),
+            std::io::ErrorKind::InvalidData
+        );
+        let mut bad_position = good;
+        bad_position.transforms[0].transform.translation.x = f64::NAN;
+        assert_eq!(
+            from_message(bad_position).unwrap_err().kind(),
+            std::io::ErrorKind::InvalidData
+        );
+        let overflow =
+            Transform::from_nanoseconds("map", "camera", i64::MAX, Isometry3::identity());
+        assert_eq!(
+            encode(&[overflow]).unwrap_err().kind(),
+            std::io::ErrorKind::InvalidInput
+        );
+    }
+}
diff --git a/native/rust/dimos-module-macros/src/lib.rs b/native/rust/dimos-module-macros/src/lib.rs
index af89a0680b4..2ac7083fef4 100644
--- a/native/rust/dimos-module-macros/src/lib.rs
+++ b/native/rust/dimos-module-macros/src/lib.rs
@@ -194,7 +194,9 @@ enum FieldKind {
         handler: Ident,
     },
     Config,
-    Tf,
+    Tf {
+        codecs: Option<(Path, Path)>,
+    },
     State,
 }
 
@@ -333,7 +335,12 @@ fn expand(input: DeriveInput) -> syn::Result<TokenStream2> {
                 quote!(#name: builder.io(#name_str, #decode, #encode))
             }
             FieldKind::Config => quote!(#name: config),
-            FieldKind::Tf => quote!(#name: builder.tf()),
+            FieldKind::Tf { codecs: None } => quote!(#name: builder.tf()),
+            FieldKind::Tf {
+                codecs: Some((decode, encode)),
+            } => {
+                quote!(#name: builder.tf_with_codec(#decode, #encode))
+            }
             FieldKind::State => quote!(#name: ::core::default::Default::default()),
         }
     });
@@ -451,7 +458,7 @@ fn port_decls(classified: &[ClassifiedField], want_input: bool) -> Vec<PortDecl>
             // goes: bake has to put the topic in the host's map or the module
             // refuses to start. It lists under `inputs` because the graph has
             // no io kind and a host mostly consumes tf.
-            FieldKind::Tf => want_input,
+            FieldKind::Tf { .. } => want_input,
             _ => false,
         })
         .map(|f| PortDecl {
@@ -461,7 +468,7 @@ fn port_decls(classified: &[ClassifiedField], want_input: bool) -> Vec<PortDecl>
             // An explicit `msg` wins: a view type's wire payload and the dimos
             // message it stands for are allowed to differ.
             ty: match f.kind {
-                FieldKind::Tf => TF_PAYLOAD_TYPE.to_string(),
+                FieldKind::Tf { .. } => TF_PAYLOAD_TYPE.to_string(),
                 _ => f
                     .msg
                     .clone()
@@ -537,7 +544,7 @@ fn check_port_table(entry: &toml::Value, kind: &str, declared: &[PortDecl]) -> R
         let msg = msg
             .as_str()
             .ok_or_else(|| format!("`{kind}.{}` must be a string", port.name))?;
-        let want = msg.rsplit('.').next().unwrap_or(msg);
+        let want = msg.rsplit(['.', '/']).next().unwrap_or(msg);
         if want != port.ty {
             return Err(format!(
                 "port `{}` is declared `{msg}` in `{kind}` but the struct field carries `{}`",
@@ -649,7 +656,31 @@ fn classify_field(field: &Field, name: &Ident) -> syn::Result<FieldAttr> {
             if found.is_some() {
                 return Err(syn::Error::new_spanned(attr, ONE_ATTR_ONLY));
             }
-            found = Some(FieldKind::Tf);
+            let codecs = if matches!(&attr.meta, syn::Meta::Path(_)) {
+                None
+            } else {
+                let mut decode: Option<Path> = None;
+                let mut encode: Option<Path> = None;
+                attr.parse_nested_meta(|meta| {
+                    if meta.path.is_ident("decode") {
+                        decode = Some(meta.value()?.parse()?);
+                    } else if meta.path.is_ident("encode") {
+                        encode = Some(meta.value()?.parse()?);
+                    } else {
+                        return Err(meta.error("expected `decode = ...` or `encode = ...`"));
+                    }
+                    Ok(())
+                })?;
+                Some((
+                    decode.ok_or_else(|| {
+                        syn::Error::new_spanned(attr, "#[tf] requires both decode and encode")
+                    })?,
+                    encode.ok_or_else(|| {
+                        syn::Error::new_spanned(attr, "#[tf] requires both decode and encode")
+                    })?,
+                ))
+            };
+            found = Some(FieldKind::Tf { codecs });
         }
     }
 
@@ -736,6 +767,38 @@ mod tests {
     };
     use syn::parse_quote;
 
+    #[test]
+    fn tf_accepts_legacy_or_explicit_codec_pair_and_keeps_registry_type() {
+        for field in [
+            parse_quote!(#[tf] tf: Tf),
+            parse_quote!(#[tf(decode = wire::decode, encode = wire::encode)] tf: Tf),
+        ] {
+            let attr = super::classify_field(&field, &parse_quote!(tf)).expect("valid TF field");
+            let ty: syn::Type = parse_quote!(Tf);
+            let name = parse_quote!(tf);
+            let fields = [ClassifiedField {
+                name: &name,
+                ty: &ty,
+                kind: attr.kind,
+                msg: attr.msg,
+            }];
+            let ports = super::port_decls(&fields, true);
+            assert_eq!(ports.len(), 1);
+            assert_eq!(ports[0].ty, "TFMessage");
+        }
+    }
+
+    #[test]
+    fn tf_rejects_partial_or_unknown_codec_settings() {
+        for field in [
+            parse_quote!(#[tf(decode = wire::decode)] tf: Tf),
+            parse_quote!(#[tf(encode = wire::encode)] tf: Tf),
+            parse_quote!(#[tf(codec = wire::codec)] tf: Tf),
+        ] {
+            assert!(super::classify_field(&field, &parse_quote!(tf)).is_err());
+        }
+    }
+
     #[test]
     fn io_ports_are_rejected_by_the_registry_check() {
         let name: syn::LitStr = parse_quote!("demo");
@@ -790,6 +853,29 @@ mod tests {
         .expect("matching ports should pass");
     }
 
+    #[test]
+    fn accepts_canonical_cdr_names_and_still_rejects_type_mismatch() {
+        let manifest = MANIFEST.replace("sensor_msgs.PointCloud2", "sensor_msgs/msg/PointCloud2");
+        check_manifest_ports(
+            &manifest,
+            "demo",
+            &[port("lidar", "PointCloud2")],
+            &[port("global_map", "PointCloud2")],
+        )
+        .expect("canonical ROS message names match their imported Rust type");
+        let err = check_manifest_ports(
+            &manifest,
+            "demo",
+            &[port("lidar", "Image")],
+            &[port("global_map", "PointCloud2")],
+        )
+        .expect_err("canonical names must still enforce the payload type");
+        assert!(
+            err.contains("sensor_msgs/msg/PointCloud2") && err.contains("Image"),
+            "{err}"
+        );
+    }
+
     #[test]
     fn rejects_missing_metadata_section() {
         let err = check_manifest_ports(MANIFEST, "other", &[], &[])
diff --git a/native/rust/dimos-module/Cargo.lock b/native/rust/dimos-module/Cargo.lock
index cbd83d0f707..93d3baaa0a8 100644
--- a/native/rust/dimos-module/Cargo.lock
+++ b/native/rust/dimos-module/Cargo.lock
@@ -249,6 +249,15 @@ dependencies = [
  "shlex",
 ]
 
+[[package]]
+name = "cdr"
+version = "0.2.4"
+source = "git+https://github.com/TomCC7/cdr-rs?rev=38a4368255d408faf374726653b39d4a4e9735cb#38a4368255d408faf374726653b39d4a4e9735cb"
+dependencies = [
+ "byteorder",
+ "serde",
+]
+
 [[package]]
 name = "cfg-if"
 version = "1.0.4"
@@ -582,7 +591,7 @@ 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",
@@ -593,6 +602,7 @@ dependencies = [
 name = "dimos-module"
 version = "0.1.0"
 dependencies = [
+ "cdr",
  "dimos-lcm",
  "dimos-module-macros",
  "lcm-msgs",
@@ -1385,7 +1395,7 @@ 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/native/rust/dimos-module/Cargo.toml b/native/rust/dimos-module/Cargo.toml
index b79f793a92c..c7ed500943b 100644
--- a/native/rust/dimos-module/Cargo.toml
+++ b/native/rust/dimos-module/Cargo.toml
@@ -7,10 +7,14 @@ license = "Apache-2.0"
 
 [workspace]
 
+[features]
+cdr = ["dep:cdr"]
+
 [dependencies]
-dimos-lcm = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
+cdr = { version = "=0.2.4", git = "https://github.com/TomCC7/cdr-rs", rev = "38a4368255d408faf374726653b39d4a4e9735cb", optional = true }
+dimos-lcm = { git = "https://github.com/dimensionalOS/dimos-lcm.git", rev = "04d78e8622500244123ba9cefa4c51b4cb454549" }
 dimos-module-macros = { version = "=0.1.0", path = "../dimos-module-macros" }
-lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
+lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", rev = "04d78e8622500244123ba9cefa4c51b4cb454549" }
 nalgebra = "0.35.0"
 rayon = "1"
 tokio = { version = "1", features = ["rt-multi-thread", "macros", "sync", "time", "signal", "io-std", "io-util"] }
diff --git a/native/rust/dimos-module/src/cdr.rs b/native/rust/dimos-module/src/cdr.rs
new file mode 100644
index 00000000000..833ac0976bd
--- /dev/null
+++ b/native/rust/dimos-module/src/cdr.rs
@@ -0,0 +1,123 @@
+// Copyright 2026 Dimensional Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+//! SDK error and message-boundary adapter for the upstream complete CDR codec.
+use ::cdr::{CdrBe, CdrLe, Infinite};
+use serde::{de::DeserializeOwned, Serialize};
+use std::io::{self, Cursor};
+
+pub fn encode<T: Serialize>(message: &T) -> io::Result<Vec<u8>> {
+    encode_endian(message, true)
+}
+
+pub fn encode_endian<T: Serialize>(message: &T, little_endian: bool) -> io::Result<Vec<u8>> {
+    if little_endian {
+        ::cdr::serialize::<_, _, CdrLe>(message, Infinite)
+    } else {
+        ::cdr::serialize::<_, _, CdrBe>(message, Infinite)
+    }
+    .map_err(|error| io::Error::new(io::ErrorKind::InvalidInput, error))
+}
+
+pub fn decode<T: DeserializeOwned>(bytes: &[u8]) -> io::Result<T> {
+    // The SDK accepts standalone plain XCDR1, not parameter lists or other DDS representations.
+    if !matches!(bytes.get(..4), Some([0, 0 | 1, 0, 0])) {
+        return Err(io::Error::new(
+            io::ErrorKind::InvalidData,
+            "Expected plain CDR/XCDR1 encapsulation",
+        ));
+    }
+    let mut reader = Cursor::new(bytes);
+    let value = ::cdr::deserialize_from(&mut reader, ::cdr::Bounded(bytes.len() as u64))
+        .map_err(|error| io::Error::new(io::ErrorKind::InvalidData, error))?;
+    if reader.position() != bytes.len() as u64 {
+        return Err(io::Error::new(
+            io::ErrorKind::InvalidData,
+            "Trailing bytes after CDR message",
+        ));
+    }
+    Ok(value)
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use serde::{Deserialize, Serialize};
+
+    #[derive(Debug, PartialEq, Serialize, Deserialize)]
+    struct Int32 {
+        data: i32,
+    }
+
+    #[test]
+    fn literal_bytes_match_ros_cdr_in_both_byte_orders() {
+        let value = Int32 { data: 42 };
+        assert_eq!(encode(&value).unwrap(), vec![0, 1, 0, 0, 42, 0, 0, 0]);
+        assert_eq!(
+            encode_endian(&value, false).unwrap(),
+            vec![0, 0, 0, 0, 0, 0, 0, 42]
+        );
+        assert_eq!(decode::<Int32>(&[0, 1, 0, 0, 42, 0, 0, 0]).unwrap(), value);
+        assert_eq!(decode::<Int32>(&[0, 0, 0, 0, 0, 0, 0, 42]).unwrap(), value);
+    }
+
+    #[test]
+    fn serialization_failure_is_an_error() {
+        struct Unencodable;
+        impl Serialize for Unencodable {
+            fn serialize<S: serde::Serializer>(&self, _: S) -> Result<S::Ok, S::Error> {
+                Err(serde::ser::Error::custom("invalid message"))
+            }
+        }
+        assert_eq!(
+            encode(&Unencodable).unwrap_err().kind(),
+            io::ErrorKind::InvalidInput
+        );
+    }
+
+    #[test]
+    fn oversized_or_unterminated_strings_fail_at_the_library_boundary() {
+        for bytes in [
+            vec![0, 1, 0, 0, 255, 255, 255, 255],
+            vec![0, 1, 0, 0, 0, 0, 0, 0],
+            vec![0, 1, 0, 0, 2, 0, 0, 0, b'a', b'b'],
+        ] {
+            assert_eq!(
+                decode::<String>(&bytes).unwrap_err().kind(),
+                io::ErrorKind::InvalidData
+            );
+        }
+        assert_eq!(
+            decode::<String>(&encode(&"相机/café").unwrap()).unwrap(),
+            "相机/café"
+        );
+    }
+
+    #[test]
+    fn reject_wrong_encapsulation_truncation_and_trailing_bytes() {
+        for bytes in [
+            vec![],
+            vec![1, 1, 0, 0, 42, 0, 0, 0],
+            vec![0, 1, 1, 0, 42, 0, 0, 0],
+            vec![0, 1, 0, 0, 42],
+            vec![0, 3, 0, 0, 42, 0, 0, 0],
+            vec![0, 1, 0, 0, 42, 0, 0, 0, 0],
+        ] {
+            assert_eq!(
+                decode::<Int32>(&bytes).unwrap_err().kind(),
+                io::ErrorKind::InvalidData
+            );
+        }
+    }
+}
diff --git a/native/rust/dimos-module/src/host.rs b/native/rust/dimos-module/src/host.rs
index cc7982b7e55..fa01c48f320 100644
--- a/native/rust/dimos-module/src/host.rs
+++ b/native/rust/dimos-module/src/host.rs
@@ -891,7 +891,7 @@ mod tests {
         fn build(builder: &mut Builder, config: ProbeConfig) -> Self {
             Self {
                 key: config.key,
-                ping: builder.output("ping", |b: &Vec<u8>| b.clone()),
+                ping: builder.output("ping", |b: &Vec<u8>| Ok(b.clone())),
             }
         }
 
diff --git a/native/rust/dimos-module/src/lib.rs b/native/rust/dimos-module/src/lib.rs
index 5816445c3f4..69ef3fcdac5 100644
--- a/native/rust/dimos-module/src/lib.rs
+++ b/native/rust/dimos-module/src/lib.rs
@@ -17,6 +17,8 @@
 #[cfg(test)]
 extern crate self as dimos_module;
 
+#[cfg(feature = "cdr")]
+pub mod cdr;
 pub mod host;
 pub mod lcm;
 pub mod log;
diff --git a/native/rust/dimos-module/src/module.rs b/native/rust/dimos-module/src/module.rs
index 23fe965ba36..01cfb7af63c 100644
--- a/native/rust/dimos-module/src/module.rs
+++ b/native/rust/dimos-module/src/module.rs
@@ -123,13 +123,13 @@ impl<T> Input<T> {
 #[derive(Clone)]
 pub struct Output<T> {
     pub topic: String,
-    encode: fn(&T) -> Vec<u8>,
+    encode: fn(&T) -> io::Result<Vec<u8>>,
     sender: mpsc::Sender<Vec<u8>>,
 }
 
 impl<T> Output<T> {
     pub async fn publish(&self, msg: &T) -> io::Result<()> {
-        publish_encoded(&self.sender, (self.encode)(msg)).await
+        publish_encoded(&self.sender, (self.encode)(msg)?).await
     }
 }
 
@@ -140,7 +140,7 @@ impl<T> Output<T> {
 pub struct Io<T> {
     pub topic: String,
     receiver: mpsc::Receiver<T>,
-    encode: fn(&T) -> Vec<u8>,
+    encode: fn(&T) -> io::Result<Vec<u8>>,
     sender: mpsc::Sender<Vec<u8>>,
 }
 
@@ -150,7 +150,7 @@ impl<T> Io<T> {
     }
 
     pub async fn publish(&self, msg: &T) -> io::Result<()> {
-        publish_encoded(&self.sender, (self.encode)(msg)).await
+        publish_encoded(&self.sender, (self.encode)(msg)?).await
     }
 }
 
@@ -386,7 +386,7 @@ impl Builder {
         Input { topic, receiver }
     }
 
-    pub fn output<T>(&mut self, port: &str, encode: fn(&T) -> Vec<u8>) -> Output<T> {
+    pub fn output<T>(&mut self, port: &str, encode: fn(&T) -> io::Result<Vec<u8>>) -> Output<T> {
         let topic = self.topic_for(port);
         let sender = self.add_publisher(&topic);
         Output {
@@ -401,7 +401,7 @@ impl Builder {
         &mut self,
         port: &str,
         decode: fn(&[u8]) -> io::Result<T>,
-        encode: fn(&T) -> Vec<u8>,
+        encode: fn(&T) -> io::Result<Vec<u8>>,
     ) -> Io<T> {
         let topic = self.topic_for(port);
         let receiver = self.add_route(&topic, decode);
@@ -419,13 +419,35 @@ impl Builder {
     /// The graph fills in the background as `tf` messages arrive. Repeated calls
     /// share one graph.
     pub fn tf(&mut self) -> crate::tf::Tf {
+        self.tf_with_codec(crate::tf::decode_legacy, crate::tf::encode_legacy)
+    }
+
+    /// Select TF wire codecs while retaining the same graph and lookup API.
+    /// Repeated calls share one graph and must select the same codec pair.
+    ///
+    /// # Panics
+    /// Panics if this module already selected a different pair for its TF topic.
+    pub fn tf_with_codec(
+        &mut self,
+        decode: crate::tf::DecodeTransforms,
+        encode: crate::tf::EncodeTransforms,
+    ) -> crate::tf::Tf {
         if let Some(tf) = &self.tf {
+            assert!(
+                tf.uses_codec(decode, encode),
+                "one TF topic cannot mix codec pairs"
+            );
             return tf.clone();
         }
         let topic = self.topic_for("tf");
         let sender = self.add_publisher(&topic);
-        let (tf, route) =
-            crate::tf::tf_subscription(topic.clone(), crate::tf::DEFAULT_TF_WINDOW_SECS, sender);
+        let (tf, route) = crate::tf::tf_subscription_with_codec(
+            topic.clone(),
+            crate::tf::DEFAULT_TF_WINDOW_SECS,
+            sender,
+            decode,
+            encode,
+        );
         self.routes.entry(topic).or_default().push(route);
         self.tf = Some(tf.clone());
         tf
@@ -942,7 +964,7 @@ mod tests {
     #[test]
     fn output_uses_mapped_topic() {
         let mut builder = builder_with_topics(&[("cmd_vel", "/robot/cmd_vel")]);
-        let output = builder.output("cmd_vel", |b: &Vec<u8>| b.clone());
+        let output = builder.output("cmd_vel", |b: &Vec<u8>| Ok(b.clone()));
         assert_eq!(output.topic, "/robot/cmd_vel");
     }
 
@@ -950,7 +972,7 @@ mod tests {
     fn topics_matching_ports_exactly_pass() {
         let mut builder = builder_with_topics(&[("cmd", "/robot/cmd"), ("odom", "/robot/odom")]);
         builder.input("cmd", |b| Ok(b.to_vec()));
-        builder.output("odom", |b: &Vec<u8>| b.clone());
+        builder.output("odom", |b: &Vec<u8>| Ok(b.clone()));
         builder.enforce_topics_match_ports().expect("exact match");
     }
 
@@ -958,7 +980,7 @@ mod tests {
     fn a_port_the_coordinator_never_sent_is_rejected() {
         let mut builder = builder_with_topics(&[("cmd", "/robot/cmd")]);
         builder.input("cmd", |b| Ok(b.to_vec()));
-        builder.output("odom", |b: &Vec<u8>| b.clone());
+        builder.output("odom", |b: &Vec<u8>| Ok(b.clone()));
         let err = builder
             .enforce_topics_match_ports()
             .expect_err("odom has no topic");
@@ -993,14 +1015,14 @@ mod tests {
     #[test]
     fn io_uses_mapped_topic() {
         let mut builder = builder_with_topics(&[("cmd", "/robot/cmd")]);
-        let io = builder.io("cmd", |b| Ok(b.to_vec()), |b: &Vec<u8>| b.clone());
+        let io = builder.io("cmd", |b| Ok(b.to_vec()), |b: &Vec<u8>| Ok(b.clone()));
         assert_eq!(io.topic, "/robot/cmd");
     }
 
     #[test]
     fn io_registers_one_route_and_one_publisher_on_the_same_topic() {
         let mut builder = builder_with_topics(&[("cmd", "/robot/cmd")]);
-        let _io = builder.io("cmd", |b| Ok(b.to_vec()), |b: &Vec<u8>| b.clone());
+        let _io = builder.io("cmd", |b| Ok(b.to_vec()), |b: &Vec<u8>| Ok(b.clone()));
         assert_eq!(builder.routes.get("/robot/cmd").map(Vec::len), Some(1));
         assert_eq!(builder.outputs.len(), 1);
         assert_eq!(builder.outputs[0].0, "/robot/cmd");
@@ -1009,7 +1031,7 @@ mod tests {
     #[tokio::test]
     async fn io_receives_on_its_route_and_publishes_to_its_queue() {
         let mut builder = builder_with_topics(&[("cmd", "/robot/cmd")]);
-        let mut io = builder.io("cmd", |b| Ok(b.to_vec()), |b: &Vec<u8>| b.clone());
+        let mut io = builder.io("cmd", |b| Ok(b.to_vec()), |b: &Vec<u8>| Ok(b.clone()));
 
         builder.routes["/robot/cmd"][0].try_dispatch(b"inbound");
         assert_eq!(io.recv().await.expect("inbound message"), b"inbound");
@@ -1022,7 +1044,7 @@ mod tests {
     #[tokio::test]
     async fn io_publish_errors_when_the_publish_worker_is_gone() {
         let mut builder = builder_with_topics(&[]);
-        let io = builder.io("cmd", |b| Ok(b.to_vec()), |b: &Vec<u8>| b.clone());
+        let io = builder.io("cmd", |b| Ok(b.to_vec()), |b: &Vec<u8>| Ok(b.clone()));
         builder.outputs.clear();
         let err = io
             .publish(&b"x".to_vec())
@@ -1048,6 +1070,116 @@ mod tests {
         assert_eq!(builder.routes.get("/tf").map(Vec::len), Some(1));
     }
 
+    fn encode_tagged_tf(values: &[crate::tf::Transform]) -> io::Result<Vec<u8>> {
+        let mut bytes = b"test-tf:".to_vec();
+        bytes.extend(crate::tf::encode_legacy(values)?);
+        Ok(bytes)
+    }
+
+    fn decode_tagged_tf(bytes: &[u8]) -> io::Result<Vec<crate::tf::Transform>> {
+        crate::tf::decode_legacy(bytes.strip_prefix(b"test-tf:").ok_or_else(|| {
+            io::Error::new(io::ErrorKind::InvalidData, "missing test codec prefix")
+        })?)
+    }
+
+    #[derive(crate::Module)]
+    struct TaggedTfModule {
+        #[tf(decode = decode_tagged_tf, encode = encode_tagged_tf)]
+        tf: crate::tf::Tf,
+    }
+
+    #[tokio::test]
+    async fn derived_tf_field_uses_selected_codecs_for_publish_and_receive() {
+        let mut sender = builder_with_topics(&[("tf", "/robot/tf")]);
+        let mut receiver = builder_with_topics(&[("tf", "/robot/tf")]);
+        let producer = TaggedTfModule::build(&mut sender, NoConfig);
+        let consumer = TaggedTfModule::build(&mut receiver, NoConfig);
+        let edge = crate::tf::Transform::new(
+            "map",
+            "camera",
+            3.25,
+            nalgebra::Isometry3::translation(1.0, 2.0, 3.0),
+        );
+        producer.tf.publish(&[edge]).await.unwrap();
+        let bytes = sender.outputs[0].1.recv().await.unwrap();
+        assert!(bytes.starts_with(b"test-tf:"));
+        receiver.routes["/robot/tf"][0].try_dispatch(b"wrong codec");
+        assert!(consumer.tf.get_latest("map", "camera").is_none());
+        receiver.routes["/robot/tf"][0].try_dispatch(&bytes);
+        let found = consumer.tf.get_latest("map", "camera").unwrap();
+        assert_eq!(found.translation(), nalgebra::Vector3::new(1.0, 2.0, 3.0));
+        assert_eq!(found.ts, 3.25);
+        receiver.tf_with_codec(decode_tagged_tf, encode_tagged_tf);
+        assert_eq!(receiver.outputs.len(), 1);
+        assert_eq!(receiver.routes["/robot/tf"].len(), 1);
+    }
+
+    #[test]
+    #[should_panic(expected = "one TF topic cannot mix codec pairs")]
+    fn tf_rejects_mixed_codecs_on_one_topic() {
+        let mut builder = builder_with_topics(&[("tf", "/tf")]);
+        builder.tf_with_codec(decode_tagged_tf, encode_tagged_tf);
+        builder.tf();
+    }
+
+    #[tokio::test]
+    async fn tf_encode_error_does_not_publish_or_change_the_local_graph() {
+        fn reject(_: &[crate::tf::Transform]) -> io::Result<Vec<u8>> {
+            Err(io::Error::new(
+                io::ErrorKind::InvalidData,
+                "unencodable transform",
+            ))
+        }
+        let mut builder = builder_with_topics(&[("tf", "/tf")]);
+        let tf = builder.tf_with_codec(decode_tagged_tf, reject);
+        let edge =
+            crate::tf::Transform::new("map", "camera", 3.25, nalgebra::Isometry3::identity());
+        let error = tf
+            .publish(&[edge])
+            .await
+            .expect_err("codec error must reach the caller");
+        assert_eq!(error.kind(), io::ErrorKind::InvalidData);
+        assert!(tf.get_latest("map", "camera").is_none());
+        assert!(matches!(
+            builder.outputs[0].1.try_recv(),
+            Err(tokio::sync::mpsc::error::TryRecvError::Empty)
+        ));
+    }
+
+    #[tokio::test]
+    async fn port_encode_error_does_not_enqueue_or_close_the_port() {
+        fn encode(value: &Vec<u8>) -> io::Result<Vec<u8>> {
+            if value == b"bad" {
+                return Err(io::Error::new(
+                    io::ErrorKind::InvalidInput,
+                    "encoding failed",
+                ));
+            }
+            Ok(value.clone())
+        }
+        let mut builder = builder_with_topics(&[("output", "/out"), ("io", "/io")]);
+        let output = builder.output("output", encode);
+        let io = builder.io("io", |bytes| Ok(bytes.to_vec()), encode);
+        assert_eq!(
+            output.publish(&b"bad".to_vec()).await.unwrap_err().kind(),
+            io::ErrorKind::InvalidInput
+        );
+        assert_eq!(
+            io.publish(&b"bad".to_vec()).await.unwrap_err().kind(),
+            io::ErrorKind::InvalidInput
+        );
+        for (_, receiver) in &mut builder.outputs {
+            assert!(matches!(
+                receiver.try_recv(),
+                Err(tokio::sync::mpsc::error::TryRecvError::Empty)
+            ));
+        }
+        output.publish(&b"out".to_vec()).await.unwrap();
+        io.publish(&b"io".to_vec()).await.unwrap();
+        assert_eq!(builder.outputs[0].1.recv().await.unwrap(), b"out");
+        assert_eq!(builder.outputs[1].1.recv().await.unwrap(), b"io");
+    }
+
     // recv/publish concurrency
 
     #[tokio::test(flavor = "multi_thread", worker_threads = 2)]
@@ -1065,7 +1197,7 @@ mod tests {
 
         let mut builder = Builder::new(topics(&[("data", "/data"), ("out", "/out")]));
         let _input = builder.input("data", |b| Ok(b.to_vec()));
-        let output = builder.output("out", |b: &Vec<u8>| b.clone());
+        let output = builder.output("out", |b: &Vec<u8>| Ok(b.clone()));
 
         subscribe_routes(&transport, builder.routes).await.unwrap();
         let transport = Arc::new(transport);
@@ -1115,7 +1247,7 @@ mod tests {
             }
             Ok(b.to_vec())
         });
-        let output = builder.output("out", |b: &Vec<u8>| b.clone());
+        let output = builder.output("out", |b: &Vec<u8>| Ok(b.clone()));
 
         subscribe_routes(&transport, builder.routes).await.unwrap();
         let transport = Arc::new(transport);
@@ -1166,8 +1298,8 @@ mod tests {
         });
 
         let mut builder = Builder::new(topics(&[("block_out", "/block"), ("fast_out", "/fast")]));
-        let block_out = builder.output("block_out", |b: &Vec<u8>| b.clone());
-        let fast_out = builder.output("fast_out", |b: &Vec<u8>| b.clone());
+        let block_out = builder.output("block_out", |b: &Vec<u8>| Ok(b.clone()));
+        let fast_out = builder.output("fast_out", |b: &Vec<u8>| Ok(b.clone()));
         let _pub_tasks = spawn_publish_tasks(Arc::clone(&transport), builder.outputs);
 
         // Wedge the block channel, then publish on the fast channel.
@@ -1278,8 +1410,8 @@ mod tests {
             Ok(Msg(bytes.to_vec()))
         }
 
-        fn encode(msg: &Msg) -> Vec<u8> {
-            msg.0.clone()
+        fn encode(msg: &Msg) -> io::Result<Vec<u8>> {
+            Ok(msg.0.clone())
         }
 
         #[derive(crate::Module)]
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]]);
diff --git a/native/rust/dimos-module/src/tf.rs b/native/rust/dimos-module/src/tf.rs
index a6c1611f9e3..04865ef86c3 100644
--- a/native/rust/dimos-module/src/tf.rs
+++ b/native/rust/dimos-module/src/tf.rs
@@ -45,6 +45,7 @@ pub struct Transform {
     pub parent: String,
     pub child: String,
     pub ts: f64,
+    stamp_ns: Option<i64>,
     iso: Isometry3<f64>,
 }
 
@@ -59,10 +60,40 @@ impl Transform {
             parent: parent.into(),
             child: child.into(),
             ts,
+            stamp_ns: None,
             iso,
         }
     }
 
+    /// Retain a wire timestamp without passing its nanoseconds through a float.
+    /// The existing `ts` field remains available for seconds-based math.
+    pub fn from_nanoseconds(
+        parent: impl Into<String>,
+        child: impl Into<String>,
+        stamp_ns: i64,
+        iso: Isometry3<f64>,
+    ) -> Self {
+        Self {
+            parent: parent.into(),
+            child: child.into(),
+            ts: stamp_ns as f64 / 1_000_000_000.,
+            stamp_ns: Some(stamp_ns),
+            iso,
+        }
+    }
+
+    /// Exact source time, or rounded seconds for values made with `new`.
+    /// A caller updating the public `ts` field invalidates saved wire metadata.
+    pub fn stamp_nanoseconds(&self) -> Option<i64> {
+        if let Some(ns) = self.stamp_ns {
+            if self.ts == ns as f64 / 1_000_000_000. {
+                return Some(ns);
+            }
+        }
+        let ns = (self.ts * 1_000_000_000.).round();
+        (ns.is_finite() && ns >= i64::MIN as f64 && ns < i64::MAX as f64).then_some(ns as i64)
+    }
+
     pub fn translation(&self) -> Vector3<f64> {
         self.iso.translation.vector
     }
@@ -76,6 +107,7 @@ impl Transform {
             parent: self.child.clone(),
             child: self.parent.clone(),
             ts: self.ts,
+            stamp_ns: self.stamp_ns,
             iso: self.iso.inverse(),
         }
     }
@@ -85,6 +117,7 @@ impl Transform {
             parent: self.parent.clone(),
             child: other.child.clone(),
             ts: self.ts,
+            stamp_ns: self.stamp_ns,
             iso: self.iso * other.iso,
         }
     }
@@ -92,6 +125,7 @@ impl Transform {
 
 struct Sample {
     ts: f64,
+    stamp_ns: Option<i64>,
     iso: Isometry3<f64>,
 }
 
@@ -110,6 +144,10 @@ impl TBuffer {
     }
 
     fn add(&mut self, ts: f64, iso: Isometry3<f64>) {
+        self.add_stamped(ts, iso, None);
+    }
+
+    fn add_stamped(&mut self, ts: f64, iso: Isometry3<f64>, stamp_ns: Option<i64>) {
         // A stamp a whole window behind the newest is a clock reset, not jitter.
         if self
             .samples
@@ -118,8 +156,15 @@ impl TBuffer {
         {
             self.samples.clear();
         }
-        let pos = self.samples.partition_point(|s| s.ts <= ts);
-        self.samples.insert(pos, Sample { ts, iso });
+        let pos = self.samples.partition_point(|s| {
+            s.ts < ts
+                || (s.ts == ts
+                    && match (s.stamp_ns, stamp_ns) {
+                        (Some(a), Some(b)) => a <= b,
+                        _ => true,
+                    })
+        });
+        self.samples.insert(pos, Sample { ts, stamp_ns, iso });
         // Anchored to the newest sample so a late message cannot widen the window.
         let newest = self.samples.back().map_or(ts, |s| s.ts);
         self.prune(newest - self.window_secs);
@@ -175,6 +220,7 @@ impl TBuffer {
             parent: parent.to_string(),
             child: child.to_string(),
             ts: s.ts,
+            stamp_ns: s.stamp_ns,
             iso: s.iso,
         })
     }
@@ -202,6 +248,23 @@ impl MultiTBuffer {
             .add(ts, iso);
     }
 
+    fn receive_transform(&mut self, transform: &Transform) {
+        if transform.stamp_ns.is_none() {
+            self.receive(
+                &transform.parent,
+                &transform.child,
+                transform.ts,
+                transform.iso,
+            );
+            return;
+        }
+        let window_secs = self.window_secs;
+        self.buffers
+            .entry((transform.parent.clone(), transform.child.clone()))
+            .or_insert_with(|| TBuffer::new(window_secs))
+            .add_stamped(transform.ts, transform.iso, transform.stamp_nanoseconds());
+    }
+
     fn connections(&self, frame: &str) -> Vec<String> {
         let mut out = Vec::new();
         for (parent, child) in self.buffers.keys() {
@@ -227,6 +290,7 @@ impl MultiTBuffer {
                 parent: parent.to_string(),
                 child: child.to_string(),
                 ts: time.unwrap_or_else(now_secs),
+                stamp_ns: None,
                 iso: Isometry3::identity(),
             });
         }
@@ -253,11 +317,17 @@ impl MultiTBuffer {
         }
         let path = self.bfs(parent, child, time, tolerance)?;
         // A composition is only as fresh as its stalest edge.
-        let oldest = path.iter().map(|t| t.ts).fold(f64::INFINITY, f64::min);
+        let oldest = path.iter().min_by(|a, b| {
+            a.ts.total_cmp(&b.ts)
+                .then_with(|| a.stamp_nanoseconds().cmp(&b.stamp_nanoseconds()))
+        })?;
+        let oldest_ts = oldest.ts;
+        let oldest_ns = oldest.stamp_nanoseconds();
         let mut steps = path.into_iter();
         let first = steps.next()?;
         let mut composed = steps.fold(first, |acc, step| acc.compose(&step));
-        composed.ts = oldest;
+        composed.ts = oldest_ts;
+        composed.stamp_ns = oldest_ns;
         Some(composed)
     }
 
@@ -338,6 +408,11 @@ impl Graph {
     }
 }
 
+/// Decode a wire packet into the existing transform graph values.
+pub type DecodeTransforms = fn(&[u8]) -> io::Result<Vec<Transform>>;
+/// Encode graph values for publication on the selected TF wire format.
+pub type EncodeTransforms = fn(&[Transform]) -> io::Result<Vec<u8>>;
+
 /// A cheap-to-clone handle for querying and publishing transforms.
 ///
 /// Obtain one from `Builder::tf` (or a `#[tf]` field on a `#[derive(Module)]`
@@ -346,9 +421,15 @@ impl Graph {
 pub struct Tf {
     graph: Arc<Graph>,
     sender: mpsc::Sender<Vec<u8>>,
+    decode: DecodeTransforms,
+    encode: EncodeTransforms,
 }
 
 impl Tf {
+    pub(crate) fn uses_codec(&self, decode: DecodeTransforms, encode: EncodeTransforms) -> bool {
+        std::ptr::fn_addr_eq(self.decode, decode) && std::ptr::fn_addr_eq(self.encode, encode)
+    }
+
     /// Start a lookup of the transform from `parent` to `child`.
     ///
     /// Refine it with [`Lookup::at`] and [`Lookup::tolerance`], then finish with
@@ -379,15 +460,13 @@ impl Tf {
     /// The transforms also feed the local graph, so a lookup right after sees
     /// them without waiting for the transport round trip.
     pub async fn publish(&self, transforms: &[Transform]) -> io::Result<()> {
+        let payload = (self.encode)(transforms)?;
         self.graph.update(|buffer| {
             for t in transforms {
-                buffer.receive(&t.parent, &t.child, t.ts, t.iso);
+                buffer.receive_transform(t);
             }
         });
-        let msg = lcm_msgs::tf2_msgs::TFMessage {
-            transforms: transforms.iter().map(to_stamped).collect(),
-        };
-        crate::module::publish_encoded(&self.sender, msg.encode()).await
+        crate::module::publish_encoded(&self.sender, payload).await
     }
 }
 
@@ -515,17 +594,52 @@ fn to_stamped(t: &Transform) -> lcm_msgs::geometry_msgs::TransformStamped {
     }
 }
 
-// Decodes /tf messages into the shared graph. Registered as a Route so the
-// module's existing recv loop dispatches tf traffic to it.
+pub(crate) fn encode_legacy(transforms: &[Transform]) -> io::Result<Vec<u8>> {
+    Ok(lcm_msgs::tf2_msgs::TFMessage {
+        transforms: transforms.iter().map(to_stamped).collect(),
+    }
+    .encode())
+}
+
+pub(crate) fn decode_legacy(data: &[u8]) -> io::Result<Vec<Transform>> {
+    let msg = lcm_msgs::tf2_msgs::TFMessage::decode(data)?;
+    let mut transforms = Vec::with_capacity(msg.transforms.len());
+    for st in msg.transforms {
+        let t = &st.transform.translation;
+        let q = &st.transform.rotation;
+        let Some(rotation) = UnitQuaternion::try_new(Quaternion::new(q.w, q.x, q.y, q.z), 1e-9)
+        else {
+            crate::error_throttled!(
+                Duration::from_secs(1),
+                parent = %st.header.frame_id,
+                child = %st.child_frame_id,
+                "tf rotation is not a valid quaternion"
+            );
+            continue;
+        };
+        let iso = Isometry3::from_parts(Translation3::new(t.x, t.y, t.z), rotation);
+        let ts = st.header.stamp.sec as f64 + st.header.stamp.nsec as f64 * 1e-9;
+        transforms.push(Transform::new(
+            st.header.frame_id,
+            st.child_frame_id,
+            ts,
+            iso,
+        ));
+    }
+    Ok(transforms)
+}
+
+// The existing receive loop dispatches TF using the codec selected by the module.
 struct TfRoute {
     topic: String,
     graph: Arc<Graph>,
+    decode: DecodeTransforms,
 }
 
 impl Route for TfRoute {
     fn try_dispatch(&self, data: &[u8]) {
-        let msg = match lcm_msgs::tf2_msgs::TFMessage::decode(data) {
-            Ok(msg) => msg,
+        let transforms = match (self.decode)(data) {
+            Ok(transforms) => transforms,
             Err(e) => {
                 crate::error_throttled!(
                     Duration::from_secs(1),
@@ -537,46 +651,44 @@ impl Route for TfRoute {
             }
         };
         self.graph.update(|buffer| {
-            for st in &msg.transforms {
-                let t = &st.transform.translation;
-                let q = &st.transform.rotation;
-                // Normalizing a zero-norm quaternion yields a NaN rotation.
-                let Some(rotation) =
-                    UnitQuaternion::try_new(Quaternion::new(q.w, q.x, q.y, q.z), 1e-9)
-                else {
-                    crate::error_throttled!(
-                        Duration::from_secs(1),
-                        topic = %self.topic,
-                        parent = %st.header.frame_id,
-                        child = %st.child_frame_id,
-                        "tf rotation is not a valid quaternion"
-                    );
-                    continue;
-                };
-                let iso = Isometry3::from_parts(Translation3::new(t.x, t.y, t.z), rotation);
-                let ts = st.header.stamp.sec as f64 + st.header.stamp.nsec as f64 * 1e-9;
-                buffer.receive(&st.header.frame_id, &st.child_frame_id, ts, iso);
+            for t in transforms {
+                buffer.receive_transform(&t);
             }
         });
     }
 }
 
-// Builds the shared graph plus the handle and the route that feeds it. The
-// sender carries published messages to the tf topic's publish worker.
-pub(crate) fn tf_subscription(
+pub(crate) fn tf_subscription_with_codec(
     topic: String,
     window_secs: f64,
     sender: mpsc::Sender<Vec<u8>>,
+    decode: DecodeTransforms,
+    encode: EncodeTransforms,
 ) -> (Tf, Box<dyn Route>) {
     let graph = Arc::new(Graph::new(window_secs));
     let tf = Tf {
         graph: Arc::clone(&graph),
         sender,
+        decode,
+        encode,
     };
-    let route = Box::new(TfRoute { topic, graph });
+    let route = Box::new(TfRoute {
+        topic,
+        graph,
+        decode,
+    });
     (tf, route)
 }
 
+#[cfg(test)]
+pub(crate) fn tf_subscription(
+    topic: String,
+    window_secs: f64,
+    sender: mpsc::Sender<Vec<u8>>,
+) -> (Tf, Box<dyn Route>) {
+    tf_subscription_with_codec(topic, window_secs, sender, decode_legacy, encode_legacy)
+}
+
 #[cfg(test)]
 mod tests {
     use super::*;
@@ -594,6 +706,8 @@ mod tests {
             Tf {
                 graph: Arc::clone(&graph),
                 sender: tx,
+                decode: decode_legacy,
+                encode: encode_legacy,
             },
             rx,
             MultiHandle { graph },
@@ -1202,4 +1316,93 @@ mod tests {
             .unwrap_err();
         assert_eq!(err.kind(), io::ErrorKind::BrokenPipe);
     }
+    #[test]
+    fn wire_nanoseconds_survive_direct_reverse_and_latest_lookup() {
+        for ns in [0, -1, 1_700_000_000_123_456_789] {
+            let (tf, _) = tf_with(DEFAULT_TF_WINDOW_SECS);
+            let edge = Transform::from_nanoseconds(
+                "world",
+                "base",
+                ns,
+                Isometry3::translation(1., 2., 3.),
+            );
+            tf.graph.update(|buffer| buffer.receive_transform(&edge));
+            let direct = tf.get_latest("world", "base").unwrap();
+            let inverse = tf.get_latest("base", "world").unwrap();
+            assert_eq!(direct.stamp_nanoseconds(), Some(ns));
+            assert_eq!(inverse.stamp_nanoseconds(), Some(ns));
+            assert_eq!(inverse.translation(), Vector3::new(-1., -2., -3.));
+        }
+    }
+
+    #[test]
+    fn sub_float_resolution_samples_are_ordered_by_exact_wire_time() {
+        let (tf, _) = tf_with(DEFAULT_TF_WINDOW_SECS);
+        let base = 1_700_000_000_123_456_789;
+        let newest =
+            Transform::from_nanoseconds("a", "b", base + 2, Isometry3::translation(2., 0., 0.));
+        let late =
+            Transform::from_nanoseconds("a", "b", base + 1, Isometry3::translation(1., 0., 0.));
+        assert_eq!(
+            newest.ts, late.ts,
+            "fixture must exercise a float collision"
+        );
+        tf.graph.update(|buffer| {
+            buffer.receive_transform(&newest);
+            buffer.receive_transform(&late);
+        });
+        let found = tf.get_latest("a", "b").unwrap();
+        assert_eq!(found.stamp_nanoseconds(), Some(base + 2));
+        assert_eq!(found.translation().x, 2.);
+    }
+
+    #[test]
+    fn composed_wire_time_is_the_exact_stalest_edge() {
+        let (tf, _) = tf_with(DEFAULT_TF_WINDOW_SECS);
+        let base = 1_700_000_000_123_456_789;
+        let first =
+            Transform::from_nanoseconds("a", "b", base + 2, Isometry3::translation(1., 0., 0.));
+        let second =
+            Transform::from_nanoseconds("b", "c", base + 1, Isometry3::translation(2., 0., 0.));
+        tf.graph.update(|buffer| {
+            buffer.receive_transform(&first);
+            buffer.receive_transform(&second);
+        });
+        let found = tf.get_latest("a", "c").unwrap();
+        assert_eq!(found.stamp_nanoseconds(), Some(base + 1));
+        assert_eq!(found.translation().x, 3.);
+    }
+
+    #[test]
+    fn public_seconds_updates_invalidate_saved_wire_metadata() {
+        let mut value =
+            Transform::from_nanoseconds("a", "b", 1_700_000_000_123_456_789, Isometry3::identity());
+        value.ts = 3.5;
+        assert_eq!(value.stamp_nanoseconds(), Some(3_500_000_000));
+        value.ts = f64::NAN;
+        assert_eq!(value.stamp_nanoseconds(), None);
+        assert_eq!(
+            Transform::new("a", "b", 1.25, Isometry3::identity()).stamp_nanoseconds(),
+            Some(1_250_000_000)
+        );
+    }
+
+    #[tokio::test]
+    async fn publication_keeps_exact_time_in_the_local_graph() {
+        let (tf, mut rx, _) = tf_with_publish(DEFAULT_TF_WINDOW_SECS);
+        let ns = 1_700_000_000_123_456_789;
+        tf.publish(&[Transform::from_nanoseconds(
+            "a",
+            "b",
+            ns,
+            Isometry3::identity(),
+        )])
+        .await
+        .unwrap();
+        assert!(rx.recv().await.is_some());
+        assert_eq!(
+            tf.get_latest("a", "b").unwrap().stamp_nanoseconds(),
+            Some(ns)
+        );
+    }
 }

From 6eb6bf3877f2ecdb0e5defc53d073ba738f2f902 Mon Sep 17 00:00:00 2001
From: "autofix-ci[bot]" <114827586+autofix-ci[bot]@users.noreply.github.com>
Date: Thu, 22 Oct 2026 18:52:29 +0000
Subject: [PATCH 2/2] [autofix.ci] apply automated fixes

---
 dimos/experimental/memory/rust/Cargo.lock     | 18 ++++++++++++-----
 dimos/experimental/memory/rust/Cargo.toml     |  2 +-
 .../memory/rust/crate-hashes.json             |  7 ++++---
 .../sensors/camera/realsense/rust/Cargo.lock  | 18 ++++++++++++-----
 .../sensors/camera/realsense/rust/Cargo.toml  |  2 +-
 .../camera/realsense/rust/crate-hashes.json   |  7 ++++---
 .../sensors/camera/v4l2/rust/Cargo.lock       | 18 ++++++++++++-----
 .../sensors/camera/v4l2/rust/Cargo.toml       |  2 +-
 .../camera/v4l2/rust/crate-hashes.json        |  7 ++++---
 .../sensors/lidar/livox/rust/Cargo.lock       | 18 ++++++++++++-----
 .../sensors/lidar/livox/rust/Cargo.toml       |  2 +-
 .../lidar/livox/rust/crate-hashes.json        |  7 ++++---
 .../sensors/lidar/pointlio/rust/Cargo.lock    | 18 ++++++++++++-----
 .../sensors/lidar/pointlio/rust/Cargo.toml    |  2 +-
 .../lidar/pointlio/rust/crate-hashes.json     |  7 ++++---
 .../sensors/lidar/virtual_mid360/Cargo.lock   |  8 ++++----
 .../sensors/lidar/virtual_mid360/Cargo.toml   |  2 +-
 .../lidar/virtual_mid360/crate-hashes.json    |  8 ++++----
 dimos/mapping/dim_slam/rust/Cargo.lock        | 18 ++++++++++++-----
 dimos/mapping/dim_slam/rust/Cargo.toml        |  2 +-
 dimos/mapping/dim_slam/rust/crate-hashes.json |  7 ++++---
 dimos/mapping/ray_tracing/rust/Cargo.lock     | 18 ++++++++++++-----
 dimos/mapping/ray_tracing/rust/Cargo.toml     |  2 +-
 .../ray_tracing/rust/crate-hashes.json        |  7 ++++---
 .../mls_planner/rust/Cargo.lock               | 18 ++++++++++++-----
 .../mls_planner/rust/Cargo.toml               |  2 +-
 .../mls_planner/rust/crate-hashes.json        |  7 ++++---
 .../navigation/local_planner/rust/Cargo.lock  | 18 ++++++++++++-----
 .../navigation/local_planner/rust/Cargo.toml  |  2 +-
 .../local_planner/rust/crate-hashes.json      |  7 ++++---
 .../trajectory_follower/fancy/rust/Cargo.lock | 20 +++++++++++++------
 .../trajectory_follower/fancy/rust/Cargo.toml |  2 +-
 .../fancy/rust/crate-hashes.json              |  7 ++++---
 .../depth2depth_cloud/rust/Cargo.lock         | 18 ++++++++++++-----
 .../depth2depth_cloud/rust/Cargo.toml         |  2 +-
 .../depth2depth_cloud/rust/crate-hashes.json  |  7 ++++---
 dimos/robot/unitree/go2/dds/rust/Cargo.lock   | 10 +++++-----
 dimos/robot/unitree/go2/dds/rust/Cargo.toml   |  2 +-
 .../unitree/go2/dds/rust/crate-hashes.json    |  8 ++++----
 examples/native-modules/rust/Cargo.lock       | 18 ++++++++++++-----
 examples/native-modules/rust/Cargo.toml       |  2 +-
 .../native-modules/rust/crate-hashes.json     |  7 ++++---
 42 files changed, 236 insertions(+), 128 deletions(-)

diff --git a/dimos/experimental/memory/rust/Cargo.lock b/dimos/experimental/memory/rust/Cargo.lock
index e0158b7e713..5dc34d60759 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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..1053df68215 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 = "95cecd49bf70edc97310adcb87aa49c1b4725273" }
 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..005164bfeef 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=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module-macros@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8="
 }
\ No newline at end of file
diff --git a/dimos/hardware/sensors/camera/realsense/rust/Cargo.lock b/dimos/hardware/sensors/camera/realsense/rust/Cargo.lock
index 89422d755e8..63ea80caa14 100644
--- a/dimos/hardware/sensors/camera/realsense/rust/Cargo.lock
+++ b/dimos/hardware/sensors/camera/realsense/rust/Cargo.lock
@@ -542,7 +542,7 @@ 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",
@@ -552,11 +552,11 @@ 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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",
@@ -572,7 +572,7 @@ 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -585,7 +585,7 @@ name = "dimos-realsense"
 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)",
  "pkg-config",
  "realsense-rust",
  "realsense-sys",
@@ -1365,6 +1365,14 @@ 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/camera/realsense/rust/Cargo.toml b/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml
index 5bd9e8c3c7e..da742e20b4f 100644
--- a/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml
+++ b/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml
@@ -33,7 +33,7 @@ infrared_left_camera_info = "sensor_msgs.CameraInfo"
 infrared_right_camera_info = "sensor_msgs.CameraInfo"
 
 [dependencies]
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "95cecd49bf70edc97310adcb87aa49c1b4725273" }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
 realsense-rust = "1.3"
 realsense-sys = "2.56"
diff --git a/dimos/hardware/sensors/camera/realsense/rust/crate-hashes.json b/dimos/hardware/sensors/camera/realsense/rust/crate-hashes.json
index 4c5fde86d6c..005164bfeef 100644
--- a/dimos/hardware/sensors/camera/realsense/rust/crate-hashes.json
+++ b/dimos/hardware/sensors/camera/realsense/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=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module-macros@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8="
 }
\ No newline at end of file
diff --git a/dimos/hardware/sensors/camera/v4l2/rust/Cargo.lock b/dimos/hardware/sensors/camera/v4l2/rust/Cargo.lock
index eee543479d3..8946a42e62e 100644
--- a/dimos/hardware/sensors/camera/v4l2/rust/Cargo.lock
+++ b/dimos/hardware/sensors/camera/v4l2/rust/Cargo.lock
@@ -557,7 +557,7 @@ 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",
@@ -567,11 +567,11 @@ 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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",
@@ -587,7 +587,7 @@ 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -601,7 +601,7 @@ version = "0.1.0"
 dependencies = [
  "cc",
  "dimos-module",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen)",
  "libc",
  "serde",
  "tokio",
@@ -1386,6 +1386,14 @@ 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/camera/v4l2/rust/Cargo.toml b/dimos/hardware/sensors/camera/v4l2/rust/Cargo.toml
index 554b02f3566..1c346e937ba 100644
--- a/dimos/hardware/sensors/camera/v4l2/rust/Cargo.toml
+++ b/dimos/hardware/sensors/camera/v4l2/rust/Cargo.toml
@@ -21,7 +21,7 @@ python = "dimos.hardware.sensors.camera.v4l2.module:V4L2Camera"
 jpeg_out = "sensor_msgs.CompressedImage"
 
 [dependencies]
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "95cecd49bf70edc97310adcb87aa49c1b4725273" }
 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/hardware/sensors/camera/v4l2/rust/crate-hashes.json b/dimos/hardware/sensors/camera/v4l2/rust/crate-hashes.json
index 4c5fde86d6c..005164bfeef 100644
--- a/dimos/hardware/sensors/camera/v4l2/rust/crate-hashes.json
+++ b/dimos/hardware/sensors/camera/v4l2/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=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module-macros@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8="
 }
\ 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..ec1cf38bb5d 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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..650d88e3758 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 = "95cecd49bf70edc97310adcb87aa49c1b4725273" }
 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..2dd531923df 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=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module-macros@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8=",
   "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..d42ac1fa22e 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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..cc5f5b929ef 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 = "95cecd49bf70edc97310adcb87aa49c1b4725273" }
 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..5b227c597ff 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=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module-macros@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8=",
   "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..36843e83ba8 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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..3ffbb23a9f9 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 = "95cecd49bf70edc97310adcb87aa49c1b4725273" }
 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..c3b05de31cb 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=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module-macros@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8=",
   "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..adb0d549003 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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..2be0875a267 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 = "95cecd49bf70edc97310adcb87aa49c1b4725273" }
 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..f3de51c8268 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=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module-macros@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8="
 }
\ 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..ceb75787207 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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..8f3bfd8da96 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 = "95cecd49bf70edc97310adcb87aa49c1b4725273" }
 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..005164bfeef 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=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module-macros@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8="
 }
\ No newline at end of file
diff --git a/dimos/navigation/global_planner/mls_planner/rust/Cargo.lock b/dimos/navigation/global_planner/mls_planner/rust/Cargo.lock
index 6e331d800ac..078e76b7bee 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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..8234cb607ad 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 = "95cecd49bf70edc97310adcb87aa49c1b4725273" }
 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..005164bfeef 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=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module-macros@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8="
 }
\ 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..62d9181757b 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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 6d62af49fd7..af4143e9501 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 = "95cecd49bf70edc97310adcb87aa49c1b4725273", 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..005164bfeef 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=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module-macros@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8="
 }
\ 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..fa22e91fda4 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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..bdb997c0c82 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 = "95cecd49bf70edc97310adcb87aa49c1b4725273", 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..005164bfeef 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=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module-macros@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8="
 }
\ No newline at end of file
diff --git a/dimos/perception/depth2depth_cloud/rust/Cargo.lock b/dimos/perception/depth2depth_cloud/rust/Cargo.lock
index 57ec25d21e6..ef45e73a017 100644
--- a/dimos/perception/depth2depth_cloud/rust/Cargo.lock
+++ b/dimos/perception/depth2depth_cloud/rust/Cargo.lock
@@ -832,7 +832,7 @@ version = "0.1.0"
 dependencies = [
  "depth2depth",
  "dimos-module",
- "lcm-msgs",
+ "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen)",
  "nalgebra",
  "rayon",
  "serde",
@@ -845,7 +845,7 @@ 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",
@@ -855,11 +855,11 @@ 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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",
@@ -875,7 +875,7 @@ 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -2083,6 +2083,14 @@ 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/perception/depth2depth_cloud/rust/Cargo.toml b/dimos/perception/depth2depth_cloud/rust/Cargo.toml
index 08b0649468f..34b38bca8a4 100644
--- a/dimos/perception/depth2depth_cloud/rust/Cargo.toml
+++ b/dimos/perception/depth2depth_cloud/rust/Cargo.toml
@@ -30,7 +30,7 @@ tf = "tf2_msgs.TFMessage"
 depth_cloud = "sensor_msgs.PointCloud2"
 
 [dependencies]
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "95cecd49bf70edc97310adcb87aa49c1b4725273" }
 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/perception/depth2depth_cloud/rust/crate-hashes.json b/dimos/perception/depth2depth_cloud/rust/crate-hashes.json
index 4c5fde86d6c..005164bfeef 100644
--- a/dimos/perception/depth2depth_cloud/rust/crate-hashes.json
+++ b/dimos/perception/depth2depth_cloud/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=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module-macros@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8="
 }
\ No newline at end of file
diff --git a/dimos/robot/unitree/go2/dds/rust/Cargo.lock b/dimos/robot/unitree/go2/dds/rust/Cargo.lock
index 167370fc481..a18de688575 100644
--- a/dimos/robot/unitree/go2/dds/rust/Cargo.lock
+++ b/dimos/robot/unitree/go2/dds/rust/Cargo.lock
@@ -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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 dependencies = [
  "dimos-lcm",
  "dimos-module-macros",
- "lcm-msgs 0.1.0 (git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen)",
+ "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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1516,7 +1516,7 @@ dependencies = [
 [[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/robot/unitree/go2/dds/rust/Cargo.toml b/dimos/robot/unitree/go2/dds/rust/Cargo.toml
index 1a264d70fdf..5b5eaa8678e 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 = "95cecd49bf70edc97310adcb87aa49c1b4725273" }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", tag = "v0.1.6" }
 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 df121a4fbe9..db63cee2cd4 100644
--- a/dimos/robot/unitree/go2/dds/rust/crate-hashes.json
+++ b/dimos/robot/unitree/go2/dds/rust/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-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-lcm.git?tag=v0.1.6#lcm-msgs@0.1.0": "sha256-n2/OkEsmTmjPzYv5O7kOBzJRZmU/pPozSvLDdHPiCKg=",
-  "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=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module-macros@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8="
 }
\ No newline at end of file
diff --git a/examples/native-modules/rust/Cargo.lock b/examples/native-modules/rust/Cargo.lock
index 5d93b115412..283b0415ee8 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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=95cecd49bf70edc97310adcb87aa49c1b4725273#95cecd49bf70edc97310adcb87aa49c1b4725273"
 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..70e49d35f3e 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 = "95cecd49bf70edc97310adcb87aa49c1b4725273" }
 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..005164bfeef 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=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module-macros@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=95cecd49bf70edc97310adcb87aa49c1b4725273#dimos-module@0.1.0": "sha256-iHyNMA7USJbHaajmFqyrB5MYdqKneL9bgahIYHqRp/8="
 }
\ No newline at end of file