v0.3-preview

Preview, not a product. See Validation and limitations in the README for what has and has not
run on the robot.

Try it

pixi run -e ros demo downloads Cartographer's public revo_lds bag (3 MB, a Neato Revo LDS)
and replays it with the browser view and the agent service; egs here works during the replay.

Since v0.2-preview

Agent layer

• egs mcp: the CLI served as MCP tools over stdio, generated from the CLI; --json on every command
• Remote-first egs: pipx package, config file, instance-id mode, fs grep, remote snapshot
• Pose timeline: GET /pose, egs pose --watch, observe --at
• Relocalization outcome, an event log and recovery guidance for agents
• /here and /status report agreement with the frozen base and distance since the last base match; here --sample, thresholds measured in blind tests, cold-start fixes

Lifelong backend

• All unfrozen sessions are checkpointed, so trimmed data no longer reappears after a restart
• Idle sessions are trimmed to nothing and removed once empty; session roles are fed / idle / frozen
• Nodes held only by handed-over submaps move to the successor session
• The node exits on scan timestamp jumps (see the RTC note in the README)
• FreezeJudge reads the submap finished state once

Project

• CI: core and agent tests on Linux (gcc) and macOS (pixi) on every push