diff --git a/data/.lfs/smart_nav_paths.tar.gz b/data/.lfs/smart_nav_paths.tar.gz new file mode 100644 index 0000000000..d19be0182b --- /dev/null +++ b/data/.lfs/smart_nav_paths.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be7aaf6c81fe55f1fd523c932cf0dd274a552cb6e38f66f44d74c1260187c59f +size 1291322 diff --git a/dimos/core/coordination/python_worker.py b/dimos/core/coordination/python_worker.py index 5a449206e0..4871fd275d 100644 --- a/dimos/core/coordination/python_worker.py +++ b/dimos/core/coordination/python_worker.py @@ -17,6 +17,7 @@ import multiprocessing from multiprocessing.connection import Connection import os +import signal import sys import threading import traceback @@ -319,12 +320,15 @@ def _suppress_console_output() -> None: def _worker_entrypoint(conn: Connection, worker_id: int) -> None: apply_library_config() + # Ignore SIGINT so the coordinator can orchestrate shutdown via the pipe. + # Without this, workers race with the coordinator: they start tearing down + # modules locally while the coordinator tries to send stop() RPCs, causing + # BrokenPipeErrors. + signal.signal(signal.SIGINT, signal.SIG_IGN) instances: dict[int, Any] = {} try: _worker_loop(conn, instances, worker_id) - except KeyboardInterrupt: - logger.info("Worker got KeyboardInterrupt.", worker_id=worker_id) except Exception as e: logger.error(f"Worker process error: {e}", exc_info=True) finally: @@ -343,12 +347,6 @@ def _worker_entrypoint(conn: Connection, worker_id: int) -> None: worker_id=worker_id, module_id=module_id, ) - except KeyboardInterrupt: - logger.warning( - "KeyboardInterrupt during worker stop", - module=type(instance).__name__, - worker_id=worker_id, - ) except Exception: logger.error("Error during worker shutdown", exc_info=True) @@ -359,7 +357,7 @@ def _worker_loop(conn: Connection, instances: dict[int, Any], worker_id: int) -> if not conn.poll(timeout=0.1): continue request = conn.recv() - except (EOFError, KeyboardInterrupt): + except EOFError: break response: WorkerResponse diff --git a/dimos/core/docker_module.py b/dimos/core/docker_module.py index 3ad9620556..19675847c2 100644 --- a/dimos/core/docker_module.py +++ b/dimos/core/docker_module.py @@ -30,7 +30,7 @@ from dimos.core.rpc_client import ModuleProxyProtocol, RpcCall from dimos.protocol.rpc.pubsubrpc import LCMRPC from dimos.utils.logging_config import setup_logger -from dimos.visualization.rerun.bridge import RERUN_GRPC_PORT, RERUN_WEB_PORT +from dimos.visualization.constants import RERUN_GRPC_PORT, RERUN_WEB_PORT if TYPE_CHECKING: from collections.abc import Callable diff --git a/dimos/core/global_config.py b/dimos/core/global_config.py index a3f42b4bd7..a6ca17a3c3 100644 --- a/dimos/core/global_config.py +++ b/dimos/core/global_config.py @@ -13,13 +13,16 @@ # limitations under the License. import re -from typing import Literal, TypeAlias from pydantic_settings import BaseSettings, SettingsConfigDict from dimos.models.vl.types import VlModelName - -ViewerBackend: TypeAlias = Literal["rerun", "rerun-web", "rerun-connect", "foxglove", "none"] +from dimos.visualization.constants import ( + RERUN_ENABLE_WEB, + RERUN_OPEN_DEFAULT, + RerunOpenOption, + ViewerBackend, +) def _get_all_numbers(s: str) -> list[float]: @@ -37,6 +40,8 @@ class GlobalConfig(BaseSettings): replay_dir: str = "go2_sf_office" new_memory: bool = False viewer: ViewerBackend = "rerun" + rerun_open: RerunOpenOption = RERUN_OPEN_DEFAULT + rerun_web: bool = RERUN_ENABLE_WEB n_workers: int = 2 memory_limit: str = "auto" mujoco_camera_position: str | None = None diff --git a/dimos/core/native_module.py b/dimos/core/native_module.py index 6cc918776e..3d2fceae12 100644 --- a/dimos/core/native_module.py +++ b/dimos/core/native_module.py @@ -41,16 +41,15 @@ class MyCppModule(NativeModule): from __future__ import annotations -import collections -import enum +import functools import inspect -import json import os from pathlib import Path import signal import subprocess import sys import threading +import time from typing import IO, Any from pydantic import Field @@ -60,6 +59,27 @@ class MyCppModule(NativeModule): from dimos.core.module import Module, ModuleConfig from dimos.utils.logging_config import setup_logger +# ctypes is only needed for the Linux child-preexec helper below. Hoisting +# the import out of the inner function avoids re-importing on every start(). +if sys.platform.startswith("linux"): + import ctypes + + _LIBC = ctypes.CDLL("libc.so.6", use_errno=True) + _PR_SET_PDEATHSIG = 1 + + def _child_preexec_linux() -> None: + """Kill child when parent dies. Linux only. + + Runs in the child between fork() and exec(). Async-signal-safe + operations only — the call into libc.prctl is fine, but anything + that touches the threading runtime (allocating, importing) is not. + """ + if _LIBC.prctl(_PR_SET_PDEATHSIG, signal.SIGTERM) != 0: + err = ctypes.get_errno() + raise OSError(err, f"prctl(PR_SET_PDEATHSIG) failed: {os.strerror(err)}") +else: + _child_preexec_linux = None # type: ignore[assignment] + if sys.version_info < (3, 13): from typing_extensions import TypeVar else: @@ -68,11 +88,6 @@ class MyCppModule(NativeModule): logger = setup_logger() -class LogFormat(enum.Enum): - TEXT = "text" - JSON = "json" - - class NativeModuleConfig(ModuleConfig): """Configuration for a native (C/C++) subprocess module.""" @@ -81,17 +96,21 @@ class NativeModuleConfig(ModuleConfig): cwd: str | None = None extra_args: list[str] = Field(default_factory=list) extra_env: dict[str, str] = Field(default_factory=dict) - shutdown_timeout: float = 10.0 - log_format: LogFormat = LogFormat.TEXT + shutdown_timeout: float = DEFAULT_THREAD_JOIN_TIMEOUT # Override in subclasses to exclude fields from CLI arg generation cli_exclude: frozenset[str] = frozenset() + # Override in subclasses to map field names to custom CLI arg names + # (bypasses the automatic snake_case → camelCase conversion). + cli_name_override: dict[str, str] = Field(default_factory=dict) def to_cli_args(self) -> list[str]: - """Auto-convert subclass config fields to CLI args. + """Convert subclass config fields to CLI args. Iterates fields defined on the concrete subclass (not NativeModuleConfig or its parents) and converts them to ``["--name", str(value)]`` pairs. + Field names are passed as-is (snake_case) unless overridden via + ``cli_name_override``. Skips fields whose values are ``None`` and fields in ``cli_exclude``. """ ignore_fields = {f for f in NativeModuleConfig.model_fields} @@ -104,12 +123,13 @@ def to_cli_args(self) -> list[str]: val = getattr(self, f) if val is None: continue + cli_name = self.cli_name_override.get(f, f) if isinstance(val, bool): - args.extend([f"--{f}", str(val).lower()]) + args.extend([f"--{cli_name}", str(val).lower()]) elif isinstance(val, list): - args.extend([f"--{f}", ",".join(str(v) for v in val)]) + args.extend([f"--{cli_name}", ",".join(str(v) for v in val)]) else: - args.extend([f"--{f}", str(val)]) + args.extend([f"--{cli_name}", str(val)]) return args @@ -135,17 +155,33 @@ class NativeModule(Module): _process: subprocess.Popen[bytes] | None = None _watchdog: threading.Thread | None = None _stopping: bool = False - _last_stderr_lines: collections.deque[str] + _stop_lock: threading.Lock + + @functools.cached_property + def _mod_label(self) -> str: + """Short human-readable label: ClassName(executable_basename).""" + exe = Path(self.config.executable).name if self.config.executable else "?" + return f"{type(self).__name__}({exe})" def __init__(self, **kwargs: Any) -> None: super().__init__(**kwargs) - self._last_stderr_lines = collections.deque(maxlen=50) - self._resolve_paths() + self._stop_lock = threading.Lock() + + # Resolve relative cwd and executable against the subclass's source file. + if self.config.cwd is not None and not Path(self.config.cwd).is_absolute(): + base_dir = Path(inspect.getfile(type(self))).resolve().parent + self.config.cwd = str(base_dir / self.config.cwd) + if not Path(self.config.executable).is_absolute() and self.config.cwd is not None: + self.config.executable = str(Path(self.config.cwd) / self.config.executable) @rpc def start(self) -> None: if self._process is not None and self._process.poll() is None: - logger.warning("Native process already running", pid=self._process.pid) + logger.warning( + "Native process already running", + module=self._mod_label, + pid=self._process.pid, + ) return self._maybe_build() @@ -161,132 +197,185 @@ def start(self) -> None: env = {**os.environ, **self.config.extra_env} cwd = self.config.cwd or str(Path(self.config.executable).resolve().parent) - module_name = type(self).__name__ logger.info( - f"Starting native process: {module_name}", - module=module_name, + "Starting native process", + module=self._mod_label, cmd=" ".join(cmd), cwd=cwd, ) + + # start_new_session=True is the thread-safe way to isolate the child + # from terminal signals (SIGINT from the tty). preexec_fn is unsafe + # in the presence of threads (subprocess docs), so we only use it on + # Linux where prctl(PR_SET_PDEATHSIG) has no alternative — see + # _child_preexec_linux defined at module scope. self._process = subprocess.Popen( cmd, env=env, cwd=cwd, stdout=subprocess.PIPE, stderr=subprocess.PIPE, + start_new_session=True, + preexec_fn=_child_preexec_linux, ) logger.info( - f"Native process started: {module_name}", - module=module_name, + "Native process started", + module=self._mod_label, pid=self._process.pid, ) - self._stopping = False - self._watchdog = threading.Thread(target=self._watch_process, daemon=True) - self._watchdog.start() + watchdog = threading.Thread( + target=self._watch_process, + daemon=True, + name=f"native-watchdog-{self._mod_label}", + ) + with self._stop_lock: + self._stopping = False + self._watchdog = watchdog + watchdog.start() @rpc def stop(self) -> None: - self._stopping = True - if self._process is not None and self._process.poll() is None: - logger.info("Stopping native process", pid=self._process.pid) - self._process.send_signal(signal.SIGTERM) + # Two callers can race here: the RPC stop() and the watchdog calling + # self.stop() after it detects an unexpected exit. Serialize on a + # per-instance lock and let the second caller no-op via the + # _stopping flag. We capture the proc/watchdog refs under the lock + # but do the actual signal/wait/join *outside* it — joining the + # watchdog while holding the lock would deadlock with the watchdog's + # own stop() call waiting on the same lock. + with self._stop_lock: + if self._stopping: + return + self._stopping = True + proc = self._process + watchdog = self._watchdog + + if proc is not None and proc.poll() is None: + logger.info( + "Stopping native process", + module=self._mod_label, + pid=proc.pid, + ) + proc.send_signal(signal.SIGTERM) try: - self._process.wait(timeout=self.config.shutdown_timeout) + proc.wait(timeout=self.config.shutdown_timeout) except subprocess.TimeoutExpired: logger.warning( - "Native process did not exit, sending SIGKILL", pid=self._process.pid + "Native process did not exit, sending SIGKILL", + module=self._mod_label, + pid=proc.pid, ) - self._process.kill() - self._process.wait(timeout=5) - if self._watchdog is not None and self._watchdog is not threading.current_thread(): - self._watchdog.join(timeout=DEFAULT_THREAD_JOIN_TIMEOUT) - self._watchdog = None - self._process = None + proc.kill() + proc.wait(timeout=self.config.shutdown_timeout) + + if watchdog is not None and watchdog is not threading.current_thread(): + watchdog.join(timeout=self.config.shutdown_timeout) + + with self._stop_lock: + self._watchdog = None + self._process = None + super().stop() def _watch_process(self) -> None: """Block until the native process exits; trigger stop() if it crashed.""" - if self._process is None: + # Cache the Popen reference and pid locally so a concurrent stop() + # setting self._process = None can't race us into an AttributeError. + proc = self._process + if proc is None: return + pid = proc.pid - stdout_t = self._start_reader(self._process.stdout, "info") - stderr_t = self._start_reader(self._process.stderr, "warning") - rc = self._process.wait() - stdout_t.join(timeout=DEFAULT_THREAD_JOIN_TIMEOUT) - stderr_t.join(timeout=DEFAULT_THREAD_JOIN_TIMEOUT) + stdout_t = self._start_reader(proc.stdout, "info", pid) + stderr_t = self._start_reader(proc.stderr, "warning", pid) + rc = proc.wait() + stdout_t.join(timeout=self.config.shutdown_timeout) + stderr_t.join(timeout=self.config.shutdown_timeout) if self._stopping: + logger.info( + "Native process exited (expected)", + module=self._mod_label, + pid=pid, + returncode=rc, + ) return - module_name = type(self).__name__ - exe_name = Path(self.config.executable).name if self.config.executable else "unknown" - - # Use buffered stderr lines from the reader thread for the crash report. - last_stderr = "\n".join(self._last_stderr_lines) - logger.error( - f"Native process crashed: {module_name} ({exe_name})", - module=module_name, - executable=exe_name, - pid=self._process.pid, + "Native process died unexpectedly", + module=self._mod_label, + pid=pid, returncode=rc, - last_stderr=last_stderr[:500] if last_stderr else None, ) self.stop() - def _start_reader(self, stream: IO[bytes] | None, level: str) -> threading.Thread: + def _start_reader( + self, + stream: IO[bytes] | None, + level: str, + pid: int, + ) -> threading.Thread: """Spawn a daemon thread that pipes a subprocess stream through the logger.""" - t = threading.Thread(target=self._read_log_stream, args=(stream, level), daemon=True) + t = threading.Thread( + target=self._read_log_stream, + args=(stream, level, pid), + daemon=True, + name=f"native-reader-{level}-{self._mod_label}", + ) t.start() return t - def _read_log_stream(self, stream: IO[bytes] | None, level: str) -> None: + def _read_log_stream( + self, + stream: IO[bytes] | None, + level: str, + pid: int, + ) -> None: if stream is None: return log_fn = getattr(logger, level) - is_stderr = level == "warning" for raw in stream: line = raw.decode("utf-8", errors="replace").rstrip() if not line: continue - if is_stderr: - self._last_stderr_lines.append(line) - if self.config.log_format == LogFormat.JSON: - try: - data = json.loads(line) - event = data.pop("event", line) - log_fn(event, **data) - continue - except (json.JSONDecodeError, TypeError): - logger.warning("malformed JSON from native module", raw=line) - log_fn(line, pid=self._process.pid if self._process else None) + # Use the captured pid rather than self._process.pid — stop() can + # null self._process out from under us between the check and the + # attribute read. + log_fn(line, module=self._mod_label, pid=pid) stream.close() - def _resolve_paths(self) -> None: - """Resolve relative ``cwd`` and ``executable`` against the subclass's source file.""" - if self.config.cwd is not None and not Path(self.config.cwd).is_absolute(): - source_file = inspect.getfile(type(self)) - base_dir = Path(source_file).resolve().parent - self.config.cwd = str(base_dir / self.config.cwd) - if not Path(self.config.executable).is_absolute() and self.config.cwd is not None: - self.config.executable = str(Path(self.config.cwd) / self.config.executable) - def _maybe_build(self) -> None: - """Run ``build_command`` if the executable does not exist.""" + """Run ``build_command`` when not in PROD mode, or if the executable is missing. + + When ``PROD`` env var is set, skip rebuilding entirely — the executable + must already exist. Otherwise, always invoke ``build_command`` and let + nix handle caching/cache-busting. + """ exe = Path(self.config.executable) - if exe.exists(): + is_prod = os.environ.get("PROD") + + if is_prod: + if not exe.exists(): + raise FileNotFoundError( + f"[{self._mod_label}] PROD is set but executable not found: {exe}. " + "Build it before deploying." + ) return + if self.config.build_command is None: - raise FileNotFoundError( - f"Executable not found: {exe}. " - "Set build_command in config to auto-build, or build it manually." - ) + if not exe.exists(): + raise FileNotFoundError( + f"[{self._mod_label}] Executable not found: {exe}. " + "Set build_command in config to auto-build, or build it manually." + ) + return + logger.info( - "Executable not found, running build", + "Building native module", executable=str(exe), build_command=self.config.build_command, ) + build_start = time.perf_counter() proc = subprocess.Popen( self.config.build_command, shell=True, @@ -296,25 +385,35 @@ def _maybe_build(self) -> None: stderr=subprocess.PIPE, ) stdout, stderr = proc.communicate() - for line in stdout.decode("utf-8", errors="replace").splitlines(): + build_elapsed = time.perf_counter() - build_start + + stdout_lines = stdout.decode("utf-8", errors="replace").splitlines() + stderr_lines = stderr.decode("utf-8", errors="replace").splitlines() + + for line in stdout_lines: if line.strip(): - logger.info(line) - for line in stderr.decode("utf-8", errors="replace").splitlines(): + logger.info(line, module=self._mod_label) + for line in stderr_lines: if line.strip(): - logger.warning(line) + logger.warning(line, module=self._mod_label) + if proc.returncode != 0: - stderr_tail = stderr.decode("utf-8", errors="replace").strip()[-1000:] raise RuntimeError( - f"Build command failed (exit {proc.returncode}): {self.config.build_command}\n" - f"stderr: {stderr_tail}" + f"[{self._mod_label}] Build command failed after {build_elapsed:.2f}s " + f"(exit {proc.returncode}): {self.config.build_command}" ) if not exe.exists(): raise FileNotFoundError( - f"Build command succeeded but executable still not found: {exe}\n" - f"Build output may have been written to a different path. " - f"Check that build_command produces the executable at the expected location." + f"[{self._mod_label}] Build command succeeded but executable still not found: {exe}" ) + logger.info( + "Build command completed", + module=self._mod_label, + executable=str(exe), + duration_sec=round(build_elapsed, 3), + ) + def _collect_topics(self) -> dict[str, str]: """Extract LCM topic strings from blueprint-assigned stream transports.""" topics: dict[str, str] = {} @@ -332,7 +431,6 @@ def _collect_topics(self) -> dict[str, str]: __all__ = [ - "LogFormat", "NativeModule", "NativeModuleConfig", ] diff --git a/dimos/core/test_native_module.py b/dimos/core/test_native_module.py index c34ae0a3cc..bb11868b56 100644 --- a/dimos/core/test_native_module.py +++ b/dimos/core/test_native_module.py @@ -28,7 +28,7 @@ from dimos.core.coordination.module_coordinator import ModuleCoordinator from dimos.core.core import rpc from dimos.core.module import Module -from dimos.core.native_module import LogFormat, NativeModule, NativeModuleConfig +from dimos.core.native_module import NativeModule, NativeModuleConfig from dimos.core.stream import In, Out from dimos.core.transport import LCMTransport from dimos.msgs.geometry_msgs.Twist import Twist @@ -60,7 +60,6 @@ def read_json_file(path: str) -> dict[str, str]: class StubNativeConfig(NativeModuleConfig): executable: str = _ECHO - log_format: LogFormat = LogFormat.TEXT output_file: str | None = None die_after: float | None = None some_param: float = 1.5 diff --git a/dimos/hardware/sensors/camera/module.py b/dimos/hardware/sensors/camera/module.py index 9b4f50920c..0fe0d8f030 100644 --- a/dimos/hardware/sensors/camera/module.py +++ b/dimos/hardware/sensors/camera/module.py @@ -21,6 +21,7 @@ from dimos.agents.annotation import skill from dimos.core.coordination.blueprints import autoconnect from dimos.core.core import rpc +from dimos.core.global_config import global_config from dimos.core.module import Module, ModuleConfig from dimos.core.stream import Out from dimos.hardware.sensors.camera.spec import CameraHardware @@ -31,7 +32,7 @@ from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo from dimos.msgs.sensor_msgs.Image import Image, sharpness_barrier from dimos.spec import perception -from dimos.visualization.rerun.bridge import RerunBridgeModule +from dimos.visualization.vis_module import vis_module def default_transform() -> Transform: @@ -120,5 +121,5 @@ def stop(self) -> None: demo_camera = autoconnect( CameraModule.blueprint(), - RerunBridgeModule.blueprint(), + vis_module(viewer_backend=global_config.viewer), ) diff --git a/dimos/hardware/sensors/lidar/common/livox_sdk_config.hpp b/dimos/hardware/sensors/lidar/common/livox_sdk_config.hpp index d7101c850e..61af728e3f 100644 --- a/dimos/hardware/sensors/lidar/common/livox_sdk_config.hpp +++ b/dimos/hardware/sensors/lidar/common/livox_sdk_config.hpp @@ -13,6 +13,7 @@ #include #include +#include #include #include @@ -40,16 +41,42 @@ struct SdkPorts { int host_log_data = 56501; }; -// Write Livox SDK JSON config to an in-memory file (memfd_create). +// Write Livox SDK JSON config to an in-memory (or ephemeral) file. // Returns {fd, path} — caller must close(fd) after LivoxLidarSdkInit reads it. +// +// Linux: memfd_create gives us a pure anonymous in-memory file, reached via +// /proc/self/fd/. +// macOS: no memfd_create and no procfs. We fall back to mkstemp() in /tmp +// and immediately unlink() the directory entry, so the inode lives +// only as long as the fd is open. The SDK reaches it via /dev/fd/ +// (Darwin's equivalent of /proc/self/fd). inline std::pair write_sdk_config(const std::string& host_ip, const std::string& lidar_ip, const SdkPorts& ports) { +#ifdef __linux__ int fd = memfd_create("livox_sdk_config", 0); if (fd < 0) { perror("memfd_create"); return {-1, ""}; } +#else + // mkstemp replaces the 6 X's in place — e.g. livox_sdk_config.aB3xY9. + // Honor $TMPDIR when set (sandboxed macOS apps and CI runners point + // it at a per-process scratch dir); fall back to /tmp. + const char* tmpdir = std::getenv("TMPDIR"); + if (tmpdir == nullptr || tmpdir[0] == '\0') { + tmpdir = "/tmp"; + } + char tmpl[256]; + snprintf(tmpl, sizeof(tmpl), "%s/livox_sdk_config.XXXXXX", tmpdir); + int fd = mkstemp(tmpl); + if (fd < 0) { + perror("mkstemp"); + return {-1, ""}; + } + // Drop the directory entry — the inode stays alive via the fd. + unlink(tmpl); +#endif FILE* fp = fdopen(fd, "w"); if (!fp) { @@ -89,7 +116,16 @@ inline std::pair write_sdk_config(const std::string& host_ip, fflush(fp); // flush but don't fclose — that would close fd char path[64]; +#ifdef __linux__ snprintf(path, sizeof(path), "/proc/self/fd/%d", fd); +#else + // Darwin's /dev/fd/ may share the underlying open file description + // (fdesc layer dup), so rewind before the SDK reads from the path. + // Linux's /proc/self/fd/ creates a fresh open file description, so + // no rewind is needed there — leave the Linux flow untouched. + lseek(fd, 0, SEEK_SET); + snprintf(path, sizeof(path), "/dev/fd/%d", fd); +#endif return {fd, path}; } diff --git a/dimos/hardware/sensors/lidar/fastlio2/config/lio_autonomy.yaml b/dimos/hardware/sensors/lidar/fastlio2/config/lio_autonomy.yaml new file mode 100644 index 0000000000..dda0491d03 --- /dev/null +++ b/dimos/hardware/sensors/lidar/fastlio2/config/lio_autonomy.yaml @@ -0,0 +1,33 @@ +common: + lid_topic: "/livox/lidar" + imu_topic: "/livox/imu" + time_sync_en: false + time_offset_lidar_to_imu: 0.0 + +preprocess: + lidar_type: 1 # 1 for Livox serials LiDAR + scan_line: 4 + blind: 0.5 # spherical min range (metres) + +mapping: + acc_cov: 0.01 # tighter than mid360 default (0.1) + gyr_cov: 0.01 # tighter than mid360 default (0.1) + b_acc_cov: 0.0001 + b_gyr_cov: 0.0001 + fov_degree: 360 + det_range: 60.0 # reduced from 100 — less noise from distant points + extrinsic_est_en: false + extrinsic_T: [ -0.011, -0.02329, 0.04412 ] + extrinsic_R: [ 1, 0, 0, + 0, 1, 0, + 0, 0, 1] + +publish: + path_en: false + scan_publish_en: true + dense_publish_en: true + scan_bodyframe_pub_en: true + +pcd_save: + pcd_save_en: false + interval: -1 diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/CMakeLists.txt b/dimos/hardware/sensors/lidar/fastlio2/cpp/CMakeLists.txt index 39f9f90443..81e7a3512d 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/CMakeLists.txt +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/CMakeLists.txt @@ -34,16 +34,9 @@ endif() # Fetch dependencies include(FetchContent) -# FAST-LIO-NON-ROS (pass -DFASTLIO_DIR= or auto-fetched from GitHub) +# FAST-LIO-NON-ROS (pass -DFASTLIO_DIR= or use local copy) if(NOT FASTLIO_DIR) - message(STATUS "FASTLIO_DIR not set, fetching FAST-LIO-NON-ROS from GitHub...") - FetchContent_Declare(fast_lio - GIT_REPOSITORY https://github.com/leshy/FAST-LIO-NON-ROS.git - GIT_TAG dimos-integration - GIT_SHALLOW TRUE - ) - FetchContent_MakeAvailable(fast_lio) - set(FASTLIO_DIR ${fast_lio_SOURCE_DIR}) + set(FASTLIO_DIR ${CMAKE_CURRENT_SOURCE_DIR}/fast-lio-non-ros) endif() # dimos-lcm C++ message headers diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock index 2636f00ada..02aa115dec 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock @@ -37,17 +37,17 @@ "fast-lio": { "flake": false, "locked": { - "lastModified": 1770976391, - "narHash": "sha256-OjSHk6qs3oCZ7XNjDyq4/K/Rb1VhqyADtra2q3F8V5U=", - "owner": "leshy", - "repo": "FAST-LIO-NON-ROS", - "rev": "47606ac6bbafcae9231936b4662b94c84fe87339", + "lastModified": 1775524369, + "narHash": "sha256-XyfHAHkj5jIKSCiyk83KcuvpOQSW3lQ8ha5svBBznGg=", + "owner": "dimensionalOS", + "repo": "dimos-module-fastlio2", + "rev": "f3bbefa6686989a874ba91d3be6ed37caa8f8904", "type": "github" }, "original": { - "owner": "leshy", - "ref": "dimos-integration", - "repo": "FAST-LIO-NON-ROS", + "owner": "dimensionalOS", + "ref": "main", + "repo": "dimos-module-fastlio2", "type": "github" } }, @@ -69,12 +69,38 @@ "type": "github" } }, + "lcm-extended": { + "inputs": { + "flake-utils": [ + "flake-utils" + ], + "nixpkgs": [ + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1774902379, + "narHash": "sha256-gRFvEkbXCEoG4jEmsT+i0bMZ5kDHOtAaPsrbStXjdu4=", + "owner": "jeff-hykin", + "repo": "lcm_extended", + "rev": "7d12ad8546d3daae30528a6c28f2c9ff5b10baf7", + "type": "github" + }, + "original": { + "owner": "jeff-hykin", + "repo": "lcm_extended", + "type": "github" + } + }, "livox-sdk": { "inputs": { "dimos-lcm": "dimos-lcm_2", "flake-utils": [ "flake-utils" ], + "lcm-extended": [ + "lcm-extended" + ], "nixpkgs": [ "nixpkgs" ] @@ -110,6 +136,7 @@ "dimos-lcm": "dimos-lcm", "fast-lio": "fast-lio", "flake-utils": "flake-utils", + "lcm-extended": "lcm-extended", "livox-sdk": "livox-sdk", "nixpkgs": "nixpkgs" } diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix index 7a58aceb76..06e49b3bb1 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix @@ -7,21 +7,62 @@ livox-sdk.url = "path:../../livox/cpp"; livox-sdk.inputs.nixpkgs.follows = "nixpkgs"; livox-sdk.inputs.flake-utils.follows = "flake-utils"; + livox-sdk.inputs.lcm-extended.follows = "lcm-extended"; dimos-lcm = { url = "github:dimensionalOS/dimos-lcm/main"; flake = false; }; fast-lio = { - url = "github:leshy/FAST-LIO-NON-ROS/dimos-integration"; + url = "github:dimensionalOS/dimos-module-fastlio2/main"; flake = false; }; + lcm-extended = { + url = "github:jeff-hykin/lcm_extended"; + inputs.nixpkgs.follows = "nixpkgs"; + inputs.flake-utils.follows = "flake-utils"; + }; }; - outputs = { self, nixpkgs, flake-utils, livox-sdk, dimos-lcm, fast-lio, ... }: + outputs = { self, nixpkgs, flake-utils, livox-sdk, dimos-lcm, fast-lio, lcm-extended, ... }: flake-utils.lib.eachDefaultSystem (system: let - pkgs = import nixpkgs { inherit system; }; + # Overlay fixes for darwin-broken nixpkgs recipes in our transitive + # dep chain (pcl → vtk → pdal → tiledb → libpqxx). Each of these + # should go upstream; kept here so we can build in the meantime. + # + # Gated on isDarwin so Linux keeps binary-cache hits for the stock + # libpqxx / tiledb / pdal / vtk / pcl derivations. Applying the + # override on Linux would change their input hashes and force a + # from-source rebuild of the whole chain for no benefit. + darwinDepFixes = final: prev: + if !prev.stdenv.isDarwin then { } else { + # libpqxx: postgresqlTestHook is in nativeCheckInputs + # unconditionally and that package is marked broken on darwin. + # The list is eagerly evaluated, so simply referencing it aborts + # eval. Upstream fix is to wrap the list in + # `lib.optionals (meta.availableOn ...)`. + libpqxx = prev.libpqxx.overrideAttrs (_old: { + nativeCheckInputs = [ ]; + doCheck = false; + }); + # tiledb: darwin-only patch `generate_embedded_data_header.patch` + # targets a file that doesn't exist in tiledb 2.30.0 (the + # upstream code path was reworked and `file(ARCHIVE_CREATE ...)` + # is no longer used anywhere in the source). Filter out only + # that patch — don't drop everything, in case nixpkgs adds an + # unrelated security patch in a future bump. + tiledb = prev.tiledb.overrideAttrs (old: { + patches = builtins.filter + (p: !(prev.lib.hasSuffix "generate_embedded_data_header.patch" (toString p))) + (old.patches or [ ]); + }); + }; + pkgs = import nixpkgs { + inherit system; + overlays = [ darwinDepFixes ]; + }; livox-sdk2 = livox-sdk.packages.${system}.livox-sdk2; + lcm = lcm-extended.packages.${system}.lcm; livox-common = ../../common; @@ -34,7 +75,7 @@ nativeBuildInputs = [ pkgs.cmake pkgs.pkg-config ]; buildInputs = [ livox-sdk2 - pkgs.lcm + lcm pkgs.glib pkgs.eigen pkgs.pcl diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/main.cpp b/dimos/hardware/sensors/lidar/fastlio2/cpp/main.cpp index 60b8d9cdb2..1d576f0df4 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/main.cpp +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/main.cpp @@ -65,6 +65,47 @@ static std::string g_frame_id = "map"; static std::string g_child_frame_id = "body"; static float g_frequency = 10.0f; +// Initial pose offset (applied to all SLAM outputs) +// Position offset +static double g_init_x = 0.0; +static double g_init_y = 0.0; +static double g_init_z = 0.0; +// Orientation offset as quaternion (identity = no rotation) +static double g_init_qx = 0.0; +static double g_init_qy = 0.0; +static double g_init_qz = 0.0; +static double g_init_qw = 1.0; + +// Helper: quaternion multiply (Hamilton product) q_out = q1 * q2 +static void quat_mul(double ax, double ay, double az, double aw, + double bx, double by, double bz, double bw, + double& ox, double& oy, double& oz, double& ow) { + ow = aw*bw - ax*bx - ay*by - az*bz; + ox = aw*bx + ax*bw + ay*bz - az*by; + oy = aw*by - ax*bz + ay*bw + az*bx; + oz = aw*bz + ax*by - ay*bx + az*bw; +} + +// Helper: rotate a vector by a quaternion v_out = q * v * q_inv +static void quat_rotate(double qx, double qy, double qz, double qw, + double vx, double vy, double vz, + double& ox, double& oy, double& oz) { + // t = 2 * cross(q_xyz, v) + double tx = 2.0 * (qy*vz - qz*vy); + double ty = 2.0 * (qz*vx - qx*vz); + double tz = 2.0 * (qx*vy - qy*vx); + // v_out = v + qw*t + cross(q_xyz, t) + ox = vx + qw*tx + (qy*tz - qz*ty); + oy = vy + qw*ty + (qz*tx - qx*tz); + oz = vz + qw*tz + (qx*ty - qy*tx); +} + +// Check if initial pose is non-identity +static bool has_init_pose() { + return g_init_x != 0.0 || g_init_y != 0.0 || g_init_z != 0.0 || + g_init_qx != 0.0 || g_init_qy != 0.0 || g_init_qz != 0.0 || g_init_qw != 1.0; +} + // Frame accumulator (Livox SDK raw → CustomMsg) static std::mutex g_pc_mutex; static std::vector g_accumulated_points; @@ -126,11 +167,28 @@ static void publish_lidar(PointCloudXYZI::Ptr cloud, double timestamp, pc.data_length = pc.row_step; pc.data.resize(pc.data_length); + // Apply the full init_pose transform (rotation + translation) to point clouds. + // FAST-LIO's map origin is at the sensor's initial position. The rotation + // corrects axis direction (e.g. 180° X for upside-down mount) and the + // translation shifts the origin so that ground sits at z≈0 (e.g. z=1.2 + // for a sensor mounted 1.2m above ground). This matches the odometry + // frame, which also gets the full init_pose applied. + const bool apply_init_pose = has_init_pose(); for (int i = 0; i < num_points; ++i) { float* dst = reinterpret_cast(pc.data.data() + i * 16); - dst[0] = cloud->points[i].x; - dst[1] = cloud->points[i].y; - dst[2] = cloud->points[i].z; + if (apply_init_pose) { + double rx, ry, rz; + quat_rotate(g_init_qx, g_init_qy, g_init_qz, g_init_qw, + cloud->points[i].x, cloud->points[i].y, cloud->points[i].z, + rx, ry, rz); + dst[0] = static_cast(rx + g_init_x); + dst[1] = static_cast(ry + g_init_y); + dst[2] = static_cast(rz + g_init_z); + } else { + dst[0] = cloud->points[i].x; + dst[1] = cloud->points[i].y; + dst[2] = cloud->points[i].z; + } dst[3] = cloud->points[i].intensity; } @@ -148,14 +206,38 @@ static void publish_odometry(const custom_messages::Odometry& odom, double times msg.header = make_header(g_frame_id, timestamp); msg.child_frame_id = g_child_frame_id; - // Pose - msg.pose.pose.position.x = odom.pose.pose.position.x; - msg.pose.pose.position.y = odom.pose.pose.position.y; - msg.pose.pose.position.z = odom.pose.pose.position.z; - msg.pose.pose.orientation.x = odom.pose.pose.orientation.x; - msg.pose.pose.orientation.y = odom.pose.pose.orientation.y; - msg.pose.pose.orientation.z = odom.pose.pose.orientation.z; - msg.pose.pose.orientation.w = odom.pose.pose.orientation.w; + // Pose (apply initial pose offset: p_out = R_init * p_slam + t_init) + if (has_init_pose()) { + double rx, ry, rz; + quat_rotate(g_init_qx, g_init_qy, g_init_qz, g_init_qw, + odom.pose.pose.position.x, + odom.pose.pose.position.y, + odom.pose.pose.position.z, + rx, ry, rz); + msg.pose.pose.position.x = rx + g_init_x; + msg.pose.pose.position.y = ry + g_init_y; + msg.pose.pose.position.z = rz + g_init_z; + + double ox, oy, oz, ow; + quat_mul(g_init_qx, g_init_qy, g_init_qz, g_init_qw, + odom.pose.pose.orientation.x, + odom.pose.pose.orientation.y, + odom.pose.pose.orientation.z, + odom.pose.pose.orientation.w, + ox, oy, oz, ow); + msg.pose.pose.orientation.x = ox; + msg.pose.pose.orientation.y = oy; + msg.pose.pose.orientation.z = oz; + msg.pose.pose.orientation.w = ow; + } else { + msg.pose.pose.position.x = odom.pose.pose.position.x; + msg.pose.pose.position.y = odom.pose.pose.position.y; + msg.pose.pose.position.z = odom.pose.pose.position.z; + msg.pose.pose.orientation.x = odom.pose.pose.orientation.x; + msg.pose.pose.orientation.y = odom.pose.pose.orientation.y; + msg.pose.pose.orientation.z = odom.pose.pose.orientation.z; + msg.pose.pose.orientation.w = odom.pose.pose.orientation.w; + } // Covariance (fixed-size double[36]) for (int i = 0; i < 36; ++i) { @@ -340,7 +422,29 @@ int main(int argc, char** argv) { ports.host_imu_data = mod.arg_int("host_imu_data_port", port_defaults.host_imu_data); ports.host_log_data = mod.arg_int("host_log_data_port", port_defaults.host_log_data); + // Initial pose offset [x, y, z, qx, qy, qz, qw] + { + std::string init_str = mod.arg("init_pose", ""); + if (!init_str.empty()) { + double vals[7] = {0, 0, 0, 0, 0, 0, 1}; + int n = 0; + size_t pos = 0; + while (pos < init_str.size() && n < 7) { + size_t comma = init_str.find(',', pos); + if (comma == std::string::npos) comma = init_str.size(); + vals[n++] = std::stod(init_str.substr(pos, comma - pos)); + pos = comma + 1; + } + g_init_x = vals[0]; g_init_y = vals[1]; g_init_z = vals[2]; + g_init_qx = vals[3]; g_init_qy = vals[4]; g_init_qz = vals[5]; g_init_qw = vals[6]; + } + } + printf("[fastlio2] Starting FAST-LIO2 + Livox Mid-360 native module\n"); + if (has_init_pose()) { + printf("[fastlio2] init_pose: xyz=(%.3f, %.3f, %.3f) quat=(%.4f, %.4f, %.4f, %.4f)\n", + g_init_x, g_init_y, g_init_z, g_init_qx, g_init_qy, g_init_qz, g_init_qw); + } printf("[fastlio2] lidar topic: %s\n", g_lidar_topic.empty() ? "(disabled)" : g_lidar_topic.c_str()); printf("[fastlio2] odometry topic: %s\n", diff --git a/dimos/hardware/sensors/lidar/fastlio2/fastlio_blueprints.py b/dimos/hardware/sensors/lidar/fastlio2/fastlio_blueprints.py index 86076c5a39..2c2a64d61e 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/fastlio_blueprints.py +++ b/dimos/hardware/sensors/lidar/fastlio2/fastlio_blueprints.py @@ -15,36 +15,45 @@ from dimos.core.coordination.blueprints import autoconnect from dimos.hardware.sensors.lidar.fastlio2.module import FastLio2 from dimos.mapping.voxels import VoxelGridMapper -from dimos.visualization.rerun.bridge import RerunBridgeModule +from dimos.visualization.vis_module import vis_module voxel_size = 0.05 mid360_fastlio = autoconnect( FastLio2.blueprint(voxel_size=voxel_size, map_voxel_size=voxel_size, map_freq=-1), - RerunBridgeModule.blueprint( - visual_override={ - "world/lidar": lambda grid: grid.to_rerun(voxel_size=voxel_size, mode="boxes"), - } + vis_module( + "rerun", + rerun_config={ + "visual_override": { + "world/lidar": lambda grid: grid.to_rerun(voxel_size=voxel_size, mode="boxes"), + }, + }, ), ).global_config(n_workers=2, robot_model="mid360_fastlio2") mid360_fastlio_voxels = autoconnect( FastLio2.blueprint(), VoxelGridMapper.blueprint(voxel_size=voxel_size, carve_columns=False), - RerunBridgeModule.blueprint( - visual_override={ - "world/global_map": lambda grid: grid.to_rerun(voxel_size=voxel_size, mode="boxes"), - "world/lidar": None, - } + vis_module( + "rerun", + rerun_config={ + "visual_override": { + "world/global_map": lambda grid: grid.to_rerun(voxel_size=voxel_size, mode="boxes"), + "world/lidar": None, + }, + }, ), ).global_config(n_workers=3, robot_model="mid360_fastlio2_voxels") mid360_fastlio_voxels_native = autoconnect( FastLio2.blueprint(voxel_size=voxel_size, map_voxel_size=voxel_size, map_freq=3.0), - RerunBridgeModule.blueprint( - visual_override={ - "world/lidar": None, - "world/global_map": lambda grid: grid.to_rerun(voxel_size=voxel_size, mode="boxes"), - } + vis_module( + "rerun", + rerun_config={ + "visual_override": { + "world/lidar": None, + "world/global_map": lambda grid: grid.to_rerun(voxel_size=voxel_size, mode="boxes"), + }, + }, ), ).global_config(n_workers=2, robot_model="mid360_fastlio2") diff --git a/dimos/hardware/sensors/lidar/fastlio2/module.py b/dimos/hardware/sensors/lidar/fastlio2/module.py index eea22da928..bbd1097dc9 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/module.py +++ b/dimos/hardware/sensors/lidar/fastlio2/module.py @@ -31,7 +31,10 @@ from __future__ import annotations +import ipaddress from pathlib import Path +import socket +import time from typing import TYPE_CHECKING, Annotated from pydantic.experimental.pipeline import validate_as @@ -51,11 +54,63 @@ SDK_POINT_DATA_PORT, SDK_PUSH_MSG_PORT, ) +from dimos.msgs.geometry_msgs.Pose import Pose +from dimos.msgs.geometry_msgs.Quaternion import Quaternion +from dimos.msgs.geometry_msgs.Transform import Transform +from dimos.msgs.geometry_msgs.Vector3 import Vector3 from dimos.msgs.nav_msgs.Odometry import Odometry from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 +from dimos.navigation.smart_nav.frames import FRAME_BODY, FRAME_ODOM from dimos.spec import mapping, perception +from dimos.utils.logging_config import setup_logger _CONFIG_DIR = Path(__file__).parent / "config" +_logger = setup_logger() + + +def _get_local_ips() -> list[str]: + """Return all IPv4 addresses assigned to local interfaces.""" + ips: list[str] = [] + try: + for info in socket.getaddrinfo(socket.gethostname(), None, socket.AF_INET): + addr = str(info[4][0]) + if addr not in ips: + ips.append(addr) + except socket.gaierror: + pass + # Also grab addresses via DGRAM trick for interfaces without DNS + try: + import subprocess + + out = subprocess.check_output( + ["ip", "-4", "-o", "addr", "show"], + timeout=5, + stderr=subprocess.DEVNULL, + ).decode() + for line in out.splitlines(): + # e.g. "2: eth0 inet 192.168.123.5/24 ..." + parts = line.split() + for i, p in enumerate(parts): + if p == "inet" and i + 1 < len(parts): + addr = parts[i + 1].split("/")[0] + if addr not in ips: + ips.append(addr) + except Exception: + pass + return ips + + +def _find_candidate_ips(lidar_ip: str, local_ips: list[str]) -> list[str]: + """Suggest local IPs on the same subnet as the lidar.""" + candidates: list[str] = [] + try: + lidar_net = ipaddress.IPv4Network(f"{lidar_ip}/24", strict=False) + for ip in local_ips: + if ipaddress.IPv4Address(ip) in lidar_net: + candidates.append(ip) + except (ValueError, TypeError): + pass + return candidates class FastLio2Config(NativeModuleConfig): @@ -64,15 +119,20 @@ class FastLio2Config(NativeModuleConfig): cwd: str | None = "cpp" executable: str = "result/bin/fastlio2_native" build_command: str | None = "nix build .#fastlio2_native" - # Livox SDK hardware config host_ip: str = "192.168.1.5" lidar_ip: str = "192.168.1.155" frequency: float = 10.0 - # Frame IDs for output messages - frame_id: str = "map" - child_frame_id: str = "body" + # Sensor mount pose — position + orientation of the sensor relative to ground. + # Converted to init_pose CLI arg [x, y, z, qx, qy, qz, qw] in model_post_init. + mount: Pose = Pose() + + # Frame IDs for output messages. "odom" reflects that FastLio2 provides + # locally-smooth, continuous odometry (no loop-closure jumps). PGO + # publishes the map→odom correction via TF. + frame_id: str = FRAME_ODOM + child_frame_id: str = FRAME_BODY # FAST-LIO internal processing rates msr_freq: float = 50.0 @@ -113,8 +173,27 @@ class FastLio2Config(NativeModuleConfig): # Resolved in __post_init__, passed as --config_path to the binary config_path: str | None = None - # config is not a CLI arg (config_path is) - cli_exclude: frozenset[str] = frozenset({"config"}) + # init_pose is computed from mount; config is resolved to config_path + init_pose: list[float] = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0] + cli_exclude: frozenset[str] = frozenset({"config", "mount"}) + + def model_post_init(self, __context: object) -> None: + """Resolve config_path and compute init_pose from mount.""" + super().model_post_init(__context) + cfg = self.config + if not cfg.is_absolute(): + cfg = _CONFIG_DIR / cfg + self.config_path = str(cfg.resolve()) + m = self.mount + self.init_pose = [ + m.x, + m.y, + m.z, + m.orientation.x, + m.orientation.y, + m.orientation.z, + m.orientation.w, + ] class FastLio2(NativeModule, perception.Lidar, perception.Odometry, mapping.GlobalPointcloud): @@ -132,13 +211,102 @@ class FastLio2(NativeModule, perception.Lidar, perception.Odometry, mapping.Glob odometry: Out[Odometry] global_map: Out[PointCloud2] + def __init__(self, **kwargs: object) -> None: + super().__init__(**kwargs) + self._validate_network() + @rpc def start(self) -> None: super().start() - - @rpc - def stop(self) -> None: - super().stop() + # Subscribe to our own odometry output so we can mirror each + # pose update into the TF tree as an odom→body transform. + self.odometry.transport.subscribe(self._on_odom_for_tf, self.odometry) + + def _on_odom_for_tf(self, msg: Odometry) -> None: + """Publish the SLAM pose as an ``odom → body`` TF transform.""" + self.tf.publish( + Transform( + frame_id=FRAME_ODOM, + child_frame_id=FRAME_BODY, + translation=Vector3( + msg.pose.position.x, + msg.pose.position.y, + msg.pose.position.z, + ), + rotation=Quaternion( + msg.pose.orientation.x, + msg.pose.orientation.y, + msg.pose.orientation.z, + msg.pose.orientation.w, + ), + ts=msg.ts or time.time(), + ) + ) + + def _validate_network(self) -> None: + """Pre-flight check: verify host_ip is reachable and suggest alternatives.""" + host_ip = self.config.host_ip + lidar_ip = self.config.lidar_ip + local_ips = _get_local_ips() + + _logger.info( + "FastLio2 network check", + host_ip=host_ip, + lidar_ip=lidar_ip, + local_ips=local_ips, + ) + + # Check if host_ip is actually assigned to this machine. + if host_ip not in local_ips: + same_subnet = _find_candidate_ips(lidar_ip, local_ips) + + if same_subnet: + picked = same_subnet[0] + _logger.warning( + f"FastLio2: host_ip={host_ip!r} not found locally. " + f"Auto-correcting to {picked!r} (same subnet as lidar {lidar_ip}).", + configured_ip=host_ip, + corrected_ip=picked, + lidar_ip=lidar_ip, + local_ips=local_ips, + ) + self.config.host_ip = picked + host_ip = picked + else: + subnet_prefix = ".".join(lidar_ip.split(".")[:3]) + msg = ( + f"FastLio2: host_ip={host_ip!r} is not assigned to any local interface.\n" + f" Lidar IP: {lidar_ip}\n" + f" Local IPs found: {', '.join(local_ips) or '(none)'}\n" + f" No local IP found on the same subnet as lidar ({lidar_ip}).\n" + f" The lidar network interface may be down or unconfigured.\n" + f" → Check: ip addr | grep {subnet_prefix}\n" + f" → Or assign an IP: " + f"sudo ip addr add {subnet_prefix}.5/24 dev \n" + ) + _logger.error(msg) + raise RuntimeError(msg) + + # Check if we can bind a UDP socket on host_ip (port 0 = ephemeral). + try: + with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as sock: + sock.bind((host_ip, 0)) + except OSError as e: + _logger.error( + f"FastLio2: Cannot bind UDP socket on host_ip={host_ip!r}: {e}\n" + f" Another process may be using the Livox SDK ports.\n" + f" → Check: ss -ulnp | grep {host_ip}" + ) + raise RuntimeError( + f"FastLio2: Cannot bind UDP on {host_ip}: {e}. " + f"Check if another Livox/FastLio2 process is running." + ) from e + + _logger.info( + "FastLio2 network check passed", + host_ip=host_ip, + lidar_ip=lidar_ip, + ) # Verify protocol port compliance (mypy will flag missing ports) diff --git a/dimos/hardware/sensors/lidar/livox/cpp/flake.lock b/dimos/hardware/sensors/lidar/livox/cpp/flake.lock index 58e8252be8..7deaadd47a 100644 --- a/dimos/hardware/sensors/lidar/livox/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/livox/cpp/flake.lock @@ -35,6 +35,29 @@ "type": "github" } }, + "lcm-extended": { + "inputs": { + "flake-utils": [ + "flake-utils" + ], + "nixpkgs": [ + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1774902379, + "narHash": "sha256-gRFvEkbXCEoG4jEmsT+i0bMZ5kDHOtAaPsrbStXjdu4=", + "owner": "jeff-hykin", + "repo": "lcm_extended", + "rev": "7d12ad8546d3daae30528a6c28f2c9ff5b10baf7", + "type": "github" + }, + "original": { + "owner": "jeff-hykin", + "repo": "lcm_extended", + "type": "github" + } + }, "nixpkgs": { "locked": { "lastModified": 1770841267, @@ -55,6 +78,7 @@ "inputs": { "dimos-lcm": "dimos-lcm", "flake-utils": "flake-utils", + "lcm-extended": "lcm-extended", "nixpkgs": "nixpkgs" } }, diff --git a/dimos/hardware/sensors/lidar/livox/cpp/flake.nix b/dimos/hardware/sensors/lidar/livox/cpp/flake.nix index eeb06b33a6..2999ff53ab 100644 --- a/dimos/hardware/sensors/lidar/livox/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/livox/cpp/flake.nix @@ -8,12 +8,18 @@ url = "github:dimensionalOS/dimos-lcm/main"; flake = false; }; + lcm-extended = { + url = "github:jeff-hykin/lcm_extended"; + inputs.nixpkgs.follows = "nixpkgs"; + inputs.flake-utils.follows = "flake-utils"; + }; }; - outputs = { self, nixpkgs, flake-utils, dimos-lcm, ... }: + outputs = { self, nixpkgs, flake-utils, dimos-lcm, lcm-extended, ... }: flake-utils.lib.eachDefaultSystem (system: let pkgs = import nixpkgs { inherit system; }; + lcm = lcm-extended.packages.${system}.lcm; livox-sdk2 = pkgs.stdenv.mkDerivation rec { pname = "livox-sdk2"; @@ -38,6 +44,13 @@ --replace-fail "add_subdirectory(samples)" "" sed -i '1i #include ' sdk_core/comm/define.h sed -i '1i #include ' sdk_core/logger_handler/file_manager.h + # Livox-SDK2 bundles an old rapidjson whose RAPIDJSON_DIAG_OFF(foo-bar) + # macros stringify with spaces under newer clang, producing invalid + # warning-group names. It also has an unused FastCRC field. Both + # explode under -Werror, and passing -DCMAKE_CXX_FLAGS=-Wno-error is + # overridden by add_compile_options(-Werror) deeper in the sdk_core + # CMakeLists. Strip -Werror in-place instead. + find . -name CMakeLists.txt -exec sed -i 's/-Werror//g' {} + ''; }; @@ -50,7 +63,7 @@ src = ./.; nativeBuildInputs = [ pkgs.cmake pkgs.pkg-config ]; - buildInputs = [ livox-sdk2 pkgs.lcm pkgs.glib ]; + buildInputs = [ livox-sdk2 lcm pkgs.glib ]; cmakeFlags = [ "-DCMAKE_POLICY_VERSION_MINIMUM=3.5" diff --git a/dimos/hardware/sensors/lidar/livox/livox_blueprints.py b/dimos/hardware/sensors/lidar/livox/livox_blueprints.py index 34ebc33c2a..e437d73994 100644 --- a/dimos/hardware/sensors/lidar/livox/livox_blueprints.py +++ b/dimos/hardware/sensors/lidar/livox/livox_blueprints.py @@ -14,9 +14,9 @@ from dimos.core.coordination.blueprints import autoconnect from dimos.hardware.sensors.lidar.livox.module import Mid360 -from dimos.visualization.rerun.bridge import RerunBridgeModule +from dimos.visualization.vis_module import vis_module mid360 = autoconnect( Mid360.blueprint(), - RerunBridgeModule.blueprint(), + vis_module("rerun"), ).global_config(n_workers=2, robot_model="mid360") diff --git a/dimos/hardware/sensors/lidar/livox/module.py b/dimos/hardware/sensors/lidar/livox/module.py index 6259adf6a4..e7507913c3 100644 --- a/dimos/hardware/sensors/lidar/livox/module.py +++ b/dimos/hardware/sensors/lidar/livox/module.py @@ -55,7 +55,6 @@ class Mid360Config(NativeModuleConfig): cwd: str | None = "cpp" executable: str = "result/bin/mid360_native" build_command: str | None = "nix build .#mid360_native" - host_ip: str = "192.168.1.5" lidar_ip: str = "192.168.1.155" frequency: float = 10.0 diff --git a/dimos/manipulation/blueprints.py b/dimos/manipulation/blueprints.py index f950ea8efa..1c006c1d04 100644 --- a/dimos/manipulation/blueprints.py +++ b/dimos/manipulation/blueprints.py @@ -44,7 +44,7 @@ from dimos.msgs.sensor_msgs.JointState import JointState from dimos.perception.object_scene_registration import ObjectSceneRegistrationModule from dimos.robot.catalog.ufactory import xarm6 as _catalog_xarm6, xarm7 as _catalog_xarm7 -from dimos.robot.foxglove_bridge import FoxgloveBridge # TODO: migrate to rerun +from dimos.visualization.vis_module import vis_module # Single XArm6 planner (standalone, no coordinator) _xarm6_planner_cfg = _catalog_xarm6( @@ -196,14 +196,14 @@ use_aabb=True, max_obstacle_width=0.06, ), - FoxgloveBridge.blueprint(), # TODO: migrate to rerun + vis_module("foxglove"), ) .transports( { ("joint_state", JointState): LCMTransport("/coordinator/joint_state", JointState), } ) - .global_config(viewer="foxglove", n_workers=4) + .global_config(n_workers=4) ) @@ -289,7 +289,7 @@ from dimos.robot.catalog.ufactory import XARM7_SIM_PATH from dimos.simulation.engines.mujoco_sim_module import MujocoSimModule -from dimos.visualization.rerun.bridge import RerunBridgeModule, _resolve_viewer_mode +from dimos.visualization.rerun.bridge import RerunBridgeModule _xarm7_sim_cfg = _catalog_xarm7( name="arm", @@ -323,7 +323,7 @@ hardware=[_xarm7_sim_cfg.to_hardware_component()], tasks=[_xarm7_sim_cfg.to_task_config()], ), - RerunBridgeModule.blueprint(viewer_mode=_resolve_viewer_mode()), + RerunBridgeModule.blueprint(), ).transports( { ("joint_state", JointState): LCMTransport("/coordinator/joint_state", JointState), diff --git a/dimos/manipulation/grasping/demo_grasping.py b/dimos/manipulation/grasping/demo_grasping.py index 37e1d38f1e..4a1d4b2cf6 100644 --- a/dimos/manipulation/grasping/demo_grasping.py +++ b/dimos/manipulation/grasping/demo_grasping.py @@ -22,7 +22,7 @@ from dimos.manipulation.grasping.grasping import GraspingModule from dimos.perception.detection.detectors.yoloe import YoloePromptMode from dimos.perception.object_scene_registration import ObjectSceneRegistrationModule -from dimos.robot.foxglove_bridge import FoxgloveBridge +from dimos.visualization.vis_module import vis_module camera_module = RealSenseCamera.blueprint(enable_pointcloud=False) @@ -44,7 +44,7 @@ ("/tmp", "/tmp", "rw") ], # Grasp visualization debug standalone: python -m dimos.manipulation.grasping.visualize_grasps ), - FoxgloveBridge.blueprint(), + vis_module("foxglove"), McpServer.blueprint(), McpClient.blueprint(), ).global_config(viewer="foxglove") diff --git a/dimos/msgs/geometry_msgs/PoseWithCovariance.py b/dimos/msgs/geometry_msgs/PoseWithCovariance.py index 3ccea8748f..12d5adb7a1 100644 --- a/dimos/msgs/geometry_msgs/PoseWithCovariance.py +++ b/dimos/msgs/geometry_msgs/PoseWithCovariance.py @@ -60,17 +60,11 @@ def __init__( else: self.covariance = np.array(covariance, dtype=float).reshape(36) - @dispatch # type: ignore[no-redef] - def __init__(self, pose_with_cov: PoseWithCovariance) -> None: - """Initialize from another PoseWithCovariance (copy constructor).""" - self.pose = Pose(pose_with_cov.pose) - self.covariance = np.array(pose_with_cov.covariance).copy() - @dispatch # type: ignore[no-redef] def __init__(self, lcm_pose_with_cov: LCMPoseWithCovariance) -> None: - """Initialize from an LCM PoseWithCovariance.""" + """Initialize from an LCM PoseWithCovariance (including copy construction).""" self.pose = Pose(lcm_pose_with_cov.pose) - self.covariance = np.array(lcm_pose_with_cov.covariance) + self.covariance = np.array(lcm_pose_with_cov.covariance).copy() @dispatch # type: ignore[no-redef] def __init__(self, pose_dict: dict[str, PoseConvertable | list[float] | np.ndarray]) -> None: diff --git a/dimos/msgs/nav_msgs/ContourPolygons3D.py b/dimos/msgs/nav_msgs/ContourPolygons3D.py new file mode 100644 index 0000000000..58f31f6cfb --- /dev/null +++ b/dimos/msgs/nav_msgs/ContourPolygons3D.py @@ -0,0 +1,141 @@ +# 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. + +"""ContourPolygons3D: filled 2D contour polygons in 3D space. + +On the wire this uses ``sensor_msgs/PointCloud2``. Each point's +``intensity`` field encodes its polygon id. The Python side groups +points by id, ear-clips each polygon into triangles, and renders via +``rr.Mesh3D``. +""" + +from __future__ import annotations + +from collections import defaultdict +from typing import TYPE_CHECKING, BinaryIO + +from dimos.types.timestamped import Timestamped + +if TYPE_CHECKING: + from rerun._baseclasses import Archetype + + +class ContourPolygons3D(Timestamped): + """Filled contour polygons for debug visualization. + + Wire format: ``sensor_msgs/PointCloud2`` where each point's + intensity encodes its polygon id. + """ + + msg_name = "nav_msgs.ContourPolygons3D" + ts: float + frame_id: str + _raw_bytes: bytes | None # store raw LCM bytes to preserve intensity + + def __init__( + self, + ts: float = 0.0, + frame_id: str = "map", + raw_bytes: bytes | None = None, + ) -> None: + self.frame_id = frame_id + self.ts = ts + self._raw_bytes = raw_bytes + + def lcm_encode(self) -> bytes: + if self._raw_bytes is None: + raise ValueError("No data to encode") + return self._raw_bytes + + @classmethod + def lcm_decode(cls, data: bytes | BinaryIO) -> ContourPolygons3D: + raw = data if isinstance(data, bytes) else data.read() + from dimos_lcm.sensor_msgs import PointCloud2 as LCMPointCloud2 + + lcm_msg = LCMPointCloud2.lcm_decode(raw) + header_ts = lcm_msg.header.stamp.sec + lcm_msg.header.stamp.nsec / 1e9 + frame_id = lcm_msg.header.frame_id + return cls(ts=header_ts, frame_id=frame_id, raw_bytes=raw) + + def _parse_xyzi(self) -> list[tuple[float, float, float, float]]: + """Extract (x, y, z, intensity) from raw PointCloud2 bytes.""" + import struct + + if self._raw_bytes is None: + return [] + + from dimos_lcm.sensor_msgs import PointCloud2 as LCMPointCloud2 + + lcm_msg = LCMPointCloud2.lcm_decode(self._raw_bytes) + + offsets: dict[str, int] = {} + for f in lcm_msg.fields: + offsets[f.name] = f.offset + if "x" not in offsets or "y" not in offsets or "z" not in offsets: + return [] + + data = bytes(lcm_msg.data) + step = lcm_msg.point_step + n = lcm_msg.width * lcm_msg.height + result: list[tuple[float, float, float, float]] = [] + for i in range(n): + base = i * step + if base + step > len(data): + break + x = struct.unpack_from(" Archetype: + """Render polygon outlines as ``rr.LineStrips3D`` — pink closed loops.""" + import rerun as rr + + pts = self._parse_xyzi() + if not pts: + return rr.LineStrips3D([]) + + # Group points by polygon_id (intensity) + polys: dict[int, list[tuple[float, float, float]]] = defaultdict(list) + for x, y, z, intensity in pts: + polys[int(intensity)].append((x, y, z)) + + strips: list[list[list[float]]] = [] + for _poly_id, verts in polys.items(): + if len(verts) < 3: + continue + # Close the polygon by appending first vertex at the end + ring = [[v[0], v[1], v[2] + z_offset] for v in verts] + ring.append(ring[0]) + strips.append(ring) + + if not strips: + return rr.LineStrips3D([]) + + return rr.LineStrips3D( + strips, + colors=[(255, 50, 200, 255)] * len(strips), # bright pink + radii=[0.15] * len(strips), # thick lines + ) + + def __str__(self) -> str: + n = len(self._parse_xyzi()) + return f"ContourPolygons3D(frame_id='{self.frame_id}', points={n})" diff --git a/dimos/msgs/nav_msgs/GraphNodes3D.py b/dimos/msgs/nav_msgs/GraphNodes3D.py new file mode 100644 index 0000000000..9b5599d454 --- /dev/null +++ b/dimos/msgs/nav_msgs/GraphNodes3D.py @@ -0,0 +1,167 @@ +# 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. + +"""GraphNodes3D: visibility-graph nodes for debug visualization. + +On the wire this reuses ``nav_msgs/Path``. Each pose is a node; the +``orientation.w`` field encodes the node type: + + 0 = normal nav node + 1 = odom (robot) node + 2 = goal node + 3 = frontier node + 4 = navpoint (trajectory) node + +Rerun visualization renders as ``rr.Points3D`` with type-based coloring. +""" + +from __future__ import annotations + +import time +from typing import TYPE_CHECKING, BinaryIO + +from dimos_lcm.geometry_msgs import ( + Point as LCMPoint, + Pose as LCMPose, + PoseStamped as LCMPoseStamped, + Quaternion as LCMQuaternion, +) +from dimos_lcm.nav_msgs import Path as LCMPath +from dimos_lcm.std_msgs import Header as LCMHeader, Time as LCMTime + +from dimos.types.timestamped import Timestamped + +if TYPE_CHECKING: + from rerun._baseclasses import Archetype + + +# Node type → RGBA color +TYPE_COLORS: dict[int, tuple[int, int, int, int]] = { + 0: (180, 180, 180, 200), # normal — grey + 1: (0, 255, 0, 255), # odom — green + 2: (255, 0, 0, 255), # goal — red + 3: (255, 165, 0, 200), # frontier — orange + 4: (0, 200, 255, 200), # navpoint — cyan +} +DEFAULT_COLOR = (200, 200, 200, 180) + + +class GraphNode: + """A single graph node with position and type.""" + + __slots__ = ("node_type", "x", "y", "z") + + def __init__(self, x: float, y: float, z: float, node_type: int = 0) -> None: + self.x = x + self.y = y + self.z = z + self.node_type = node_type + + +def _sec_nsec(ts: float) -> list[int]: + s = int(ts) + return [s, int((ts - s) * 1_000_000_000)] + + +class GraphNodes3D(Timestamped): + """Visibility-graph node positions for debug visualization. + + Wire format: ``nav_msgs/Path`` where each pose is a node. + """ + + msg_name = "nav_msgs.GraphNodes3D" + ts: float + frame_id: str + nodes: list[GraphNode] + + def __init__( + self, + ts: float = 0.0, + frame_id: str = "map", + nodes: list[GraphNode] | None = None, + ) -> None: + self.frame_id = frame_id + self.ts = ts if ts != 0 else time.time() + self.nodes = nodes if nodes is not None else [] + + # ── LCM encode / decode ──────────────────────────────────────────── + + def lcm_encode(self) -> bytes: + lcm_msg = LCMPath() + lcm_msg.poses_length = len(self.nodes) + lcm_msg.poses = [] + + for node in self.nodes: + pose = LCMPoseStamped() + pose.header = LCMHeader() + pose.header.stamp = LCMTime() + [pose.header.stamp.sec, pose.header.stamp.nsec] = _sec_nsec(self.ts) + pose.header.frame_id = self.frame_id + pose.pose = LCMPose() + pose.pose.position = LCMPoint() + pose.pose.position.x = node.x + pose.pose.position.y = node.y + pose.pose.position.z = node.z + pose.pose.orientation = LCMQuaternion() + pose.pose.orientation.w = float(node.node_type) + lcm_msg.poses.append(pose) + + lcm_msg.header = LCMHeader() + lcm_msg.header.stamp = LCMTime() + [lcm_msg.header.stamp.sec, lcm_msg.header.stamp.nsec] = _sec_nsec(self.ts) + lcm_msg.header.frame_id = self.frame_id + return lcm_msg.lcm_encode() # type: ignore[no-any-return] + + @classmethod + def lcm_decode(cls, data: bytes | BinaryIO) -> GraphNodes3D: + lcm_msg = LCMPath.lcm_decode(data) + header_ts = lcm_msg.header.stamp.sec + lcm_msg.header.stamp.nsec / 1e9 + frame_id = lcm_msg.header.frame_id + + nodes: list[GraphNode] = [] + for pose in lcm_msg.poses: + nodes.append( + GraphNode( + x=pose.pose.position.x, + y=pose.pose.position.y, + z=pose.pose.position.z, + node_type=int(pose.pose.orientation.w), + ) + ) + return cls(ts=header_ts, frame_id=frame_id, nodes=nodes) + + # ── Rerun visualization ──────────────────────────────────────────── + + def to_rerun( + self, + z_offset: float = 1.7, + radii: float = 0.12, + ) -> Archetype: + """Render as ``rr.Points3D`` with type-based coloring.""" + import rerun as rr + + if not self.nodes: + return rr.Points3D([]) + + positions = [[n.x, n.y, n.z + z_offset] for n in self.nodes] + colors = [TYPE_COLORS.get(n.node_type, DEFAULT_COLOR) for n in self.nodes] + node_radii = [radii * 2.0 if n.node_type in (1, 2) else radii for n in self.nodes] + + return rr.Points3D(positions, colors=colors, radii=node_radii) + + def __len__(self) -> int: + return len(self.nodes) + + def __str__(self) -> str: + return f"GraphNodes3D(frame_id='{self.frame_id}', nodes={len(self.nodes)})" diff --git a/dimos/msgs/nav_msgs/LineSegments3D.py b/dimos/msgs/nav_msgs/LineSegments3D.py new file mode 100644 index 0000000000..26e0c515ed --- /dev/null +++ b/dimos/msgs/nav_msgs/LineSegments3D.py @@ -0,0 +1,126 @@ +# 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. + +"""LineSegments3D: collection of 3D line segments for graph edge visualization. + +On the wire uses ``nav_msgs/Path`` — consecutive pose pairs form segments. +Renders as ``rr.LineStrips3D`` with each segment as a separate strip. +""" + +from __future__ import annotations + +import time +from typing import TYPE_CHECKING, BinaryIO + +from dimos_lcm.nav_msgs import Path as LCMPath + +from dimos.types.timestamped import Timestamped + +if TYPE_CHECKING: + from rerun._baseclasses import Archetype + + +class LineSegments3D(Timestamped): + """Line segments for graph edge visualization. + + Wire format: ``nav_msgs/Path`` — consecutive pose pairs are segments. + ``orientation.w`` encodes traversability: 1.0=traversable, 0.5=partial, 0.0=unreachable. + """ + + msg_name = "nav_msgs.LineSegments3D" + ts: float + frame_id: str + _segments: list[tuple[tuple[float, float, float], tuple[float, float, float]]] + _traversability: list[float] + + def __init__( + self, + ts: float = 0.0, + frame_id: str = "map", + segments: list[tuple[tuple[float, float, float], tuple[float, float, float]]] | None = None, + traversability: list[float] | None = None, + ) -> None: + self.frame_id = frame_id + self.ts = ts if ts != 0 else time.time() + self._segments = segments or [] + self._traversability = traversability or [1.0] * len(self._segments) + + def lcm_encode(self) -> bytes: + raise NotImplementedError("Encoded on C++ side") + + @classmethod + def lcm_decode(cls, data: bytes | BinaryIO) -> LineSegments3D: + lcm_msg = LCMPath.lcm_decode(data) + header_ts = lcm_msg.header.stamp.sec + lcm_msg.header.stamp.nsec / 1e9 + frame_id = lcm_msg.header.frame_id + + segments = [] + traversability = [] + poses = lcm_msg.poses + for i in range(0, len(poses) - 1, 2): + p1, p2 = poses[i], poses[i + 1] + segments.append( + ( + (p1.pose.position.x, p1.pose.position.y, p1.pose.position.z), + (p2.pose.position.x, p2.pose.position.y, p2.pose.position.z), + ) + ) + traversability.append(p1.pose.orientation.w) + return cls( + ts=header_ts, frame_id=frame_id, segments=segments, traversability=traversability + ) + + def to_rerun( + self, + z_offset: float = 1.7, + color: tuple[int, int, int, int] = (0, 255, 150, 255), + radii: float = 0.04, + ) -> Archetype: + """Render as ``rr.LineStrips3D`` — color-coded by traversability. + + Green = traversable (reachable from robot), red = non-traversable. + """ + import rerun as rr + + if not self._segments: + return rr.LineStrips3D([]) + + strips = [] + colors = [] + for idx, (p1, p2) in enumerate(self._segments): + strips.append( + [ + [p1[0], p1[1], p1[2] + z_offset], + [p2[0], p2[1], p2[2] + z_offset], + ] + ) + trav = self._traversability[idx] if idx < len(self._traversability) else 1.0 + if trav >= 0.9: + colors.append((0, 220, 100, 200)) # green = fully traversable + elif trav >= 0.4: + colors.append((255, 180, 0, 200)) # yellow = partially traversable + else: + colors.append((255, 50, 50, 150)) # red = non-traversable + + return rr.LineStrips3D( + strips, + colors=colors, + radii=[radii] * len(strips), + ) + + def __len__(self) -> int: + return len(self._segments) + + def __str__(self) -> str: + return f"LineSegments3D(frame_id='{self.frame_id}', segments={len(self._segments)})" diff --git a/dimos/navigation/demo_ros_navigation.py b/dimos/navigation/demo_ros_navigation.py deleted file mode 100644 index 520276fee2..0000000000 --- a/dimos/navigation/demo_ros_navigation.py +++ /dev/null @@ -1,62 +0,0 @@ -# Copyright 2025-2026 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. - -import time - -from dimos.core.coordination.module_coordinator import ModuleCoordinator -from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped -from dimos.msgs.geometry_msgs.Quaternion import Quaternion -from dimos.msgs.geometry_msgs.Vector3 import Vector3 -from dimos.navigation import rosnav -from dimos.protocol.service.lcmservice import autoconf -from dimos.utils.logging_config import setup_logger - -logger = setup_logger() - - -def main() -> None: - autoconf() - dimos = ModuleCoordinator() - dimos.start() - - ros_nav = rosnav.deploy(dimos) - - logger.info("\nTesting navigation in 2 seconds...") - time.sleep(2) - - test_pose = PoseStamped( - ts=time.time(), - frame_id="map", - position=Vector3(10.0, 10.0, 0.0), - orientation=Quaternion(0.0, 0.0, 0.0, 1.0), - ) - - logger.info("Sending navigation goal to: (10.0, 10.0, 0.0)") - ros_nav.set_goal(test_pose) - time.sleep(5) - - logger.info("Cancelling goal after 5 seconds...") - cancelled = ros_nav.cancel_goal() - logger.info(f"Goal cancelled: {cancelled}") - - try: - logger.info("\nNavBot running. Press Ctrl+C to stop.") - while True: - time.sleep(1) - except KeyboardInterrupt: - dimos.stop() - - -if __name__ == "__main__": - main() diff --git a/dimos/navigation/frontier_exploration/wavefront_frontier_goal_selector.py b/dimos/navigation/frontier_exploration/wavefront_frontier_goal_selector.py index b8dbe0dfc8..338d10d9b0 100644 --- a/dimos/navigation/frontier_exploration/wavefront_frontier_goal_selector.py +++ b/dimos/navigation/frontier_exploration/wavefront_frontier_goal_selector.py @@ -115,6 +115,7 @@ class WavefrontFrontierExplorer(Module): goal_reached: In[Bool] explore_cmd: In[Bool] stop_explore_cmd: In[Bool] + stop_movement: In[Bool] # LCM outputs goal_request: Out[PoseStamped] @@ -171,6 +172,10 @@ def start(self) -> None: unsub = self.stop_explore_cmd.subscribe(self._on_stop_explore_cmd) self.register_disposable(Disposable(unsub)) + if self.stop_movement.transport is not None: + unsub = self.stop_movement.subscribe(self._on_stop_movement) + self.register_disposable(Disposable(unsub)) + @rpc def stop(self) -> None: self.stop_exploration() @@ -201,6 +206,12 @@ def _on_stop_explore_cmd(self, msg: Bool) -> None: logger.info("Received exploration stop command via LCM") self.stop_exploration() + def _on_stop_movement(self, msg: Bool) -> None: + """Handle stop movement from teleop — cancel active exploration.""" + if msg.data and self.exploration_active: + logger.info("WavefrontFrontierExplorer: stop_movement received, stopping exploration") + self.stop_exploration() + def _count_costmap_information(self, costmap: OccupancyGrid) -> int: """ Count the amount of information in a costmap (free space + obstacles). diff --git a/dimos/navigation/replanning_a_star/module.py b/dimos/navigation/replanning_a_star/module.py index 2375af20ce..efc16b52d6 100644 --- a/dimos/navigation/replanning_a_star/module.py +++ b/dimos/navigation/replanning_a_star/module.py @@ -28,6 +28,9 @@ from dimos.msgs.nav_msgs.Path import Path from dimos.navigation.base import NavigationInterface, NavigationState from dimos.navigation.replanning_a_star.global_planner import GlobalPlanner +from dimos.utils.logging_config import setup_logger + +logger = setup_logger() class ReplanningAStarPlanner(Module, NavigationInterface): @@ -36,10 +39,11 @@ class ReplanningAStarPlanner(Module, NavigationInterface): goal_request: In[PoseStamped] clicked_point: In[PointStamped] target: In[PoseStamped] + stop_movement: In[Bool] goal_reached: Out[Bool] navigation_state: Out[String] # TODO: set it - cmd_vel: Out[Twist] + nav_cmd_vel: Out[Twist] path: Out[Path] navigation_costmap: Out[OccupancyGrid] @@ -72,9 +76,14 @@ def start(self) -> None: ) ) + if self.stop_movement.transport is not None: + self.register_disposable( + Disposable(self.stop_movement.subscribe(self._on_stop_movement)) + ) + self.register_disposable(self._planner.path.subscribe(self.path.publish)) - self.register_disposable(self._planner.cmd_vel.subscribe(self.cmd_vel.publish)) + self.register_disposable(self._planner.cmd_vel.subscribe(self.nav_cmd_vel.publish)) self.register_disposable(self._planner.goal_reached.subscribe(self.goal_reached.publish)) @@ -92,6 +101,11 @@ def stop(self) -> None: super().stop() + def _on_stop_movement(self, msg: Bool) -> None: + if msg.data: + logger.info("ReplanningAStarPlanner: stop_movement received, cancelling goal") + self.cancel_goal() + @rpc def set_goal(self, goal: PoseStamped) -> bool: self._planner.handle_goal_request(goal) diff --git a/dimos/navigation/rosnav.py b/dimos/navigation/rosnav.py deleted file mode 100644 index b1d4cf64b6..0000000000 --- a/dimos/navigation/rosnav.py +++ /dev/null @@ -1,411 +0,0 @@ -#!/usr/bin/env python3 -# Copyright 2025-2026 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. - -""" -NavBot class for navigation-related functionality. -Encapsulates ROS transport and topic remapping for Unitree robots. -""" - -import logging -import threading -import time -from typing import Any - -from pydantic import Field -from reactivex import operators as ops -from reactivex.subject import Subject - -from dimos.agents.annotation import skill -from dimos.constants import DEFAULT_THREAD_JOIN_TIMEOUT -from dimos.core.coordination.module_coordinator import ModuleCoordinator -from dimos.core.core import rpc -from dimos.core.module import Module, ModuleConfig -from dimos.core.stream import In, Out -from dimos.core.transport import LCMTransport, ROSTransport -from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped -from dimos.msgs.geometry_msgs.Quaternion import Quaternion -from dimos.msgs.geometry_msgs.Transform import Transform -from dimos.msgs.geometry_msgs.Twist import Twist -from dimos.msgs.geometry_msgs.TwistStamped import TwistStamped -from dimos.msgs.geometry_msgs.Vector3 import Vector3 -from dimos.msgs.nav_msgs.Path import Path -from dimos.msgs.sensor_msgs.Joy import Joy -from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 -from dimos.msgs.std_msgs.Bool import Bool -from dimos.msgs.std_msgs.Int8 import Int8 -from dimos.msgs.tf2_msgs.TFMessage import TFMessage -from dimos.navigation.base import NavigationInterface, NavigationState -from dimos.spec.control import LocalPlanner -from dimos.spec.mapping import GlobalPointcloud -from dimos.spec.nav import Nav -from dimos.spec.perception import Pointcloud -from dimos.utils.logging_config import setup_logger -from dimos.utils.transform_utils import euler_to_quaternion - -logger = setup_logger(level=logging.INFO) - - -class Config(ModuleConfig): - local_pointcloud_freq: float = 2.0 - global_map_freq: float = 1.0 - sensor_to_base_link_transform: Transform = Field( - default_factory=lambda: Transform(frame_id="sensor", child_frame_id="base_link") - ) - - -class ROSNav( - Module, - NavigationInterface, - Nav, - GlobalPointcloud, - Pointcloud, - LocalPlanner, -): - config: Config - # Existing ports (default LCM/pSHM transport) - goal_req: In[PoseStamped] - - pointcloud: Out[PointCloud2] - global_map: Out[PointCloud2] - - goal_active: Out[PoseStamped] - path_active: Out[Path] - cmd_vel: Out[Twist] - - # ROS In ports (receiving from ROS topics via ROSTransport) - ros_goal_reached: In[Bool] - ros_cmd_vel: In[TwistStamped] - ros_way_point: In[PoseStamped] - ros_registered_scan: In[PointCloud2] - ros_global_map: In[PointCloud2] - ros_path: In[Path] - ros_tf: In[TFMessage] - - # ROS Out ports (publishing to ROS topics via ROSTransport) - ros_goal_pose: Out[PoseStamped] - ros_cancel_goal: Out[Bool] - ros_soft_stop: Out[Int8] - ros_joy: Out[Joy] - - # Using RxPY Subjects for reactive data flow instead of storing state - _local_pointcloud_subject: Subject # type: ignore[type-arg] - _global_map_subject: Subject # type: ignore[type-arg] - - _current_position_running: bool = False - _goal_reach: bool | None = None - - # Navigation state tracking for NavigationInterface - _navigation_state: NavigationState = NavigationState.IDLE - _state_lock: threading.Lock - _navigation_thread: threading.Thread | None = None - _current_goal: PoseStamped | None = None - _goal_reached: bool = False - - def __init__(self, **kwargs: Any) -> None: - super().__init__(**kwargs) - - # Initialize RxPY Subjects for streaming data - self._local_pointcloud_subject = Subject() - self._global_map_subject = Subject() - - # Initialize state tracking - self._state_lock = threading.Lock() - self._navigation_state = NavigationState.IDLE - self._goal_reached = False - - logger.info("NavigationModule initialized") - - @rpc - def start(self) -> None: - self._running = True - - self.register_disposable( - self._local_pointcloud_subject.pipe( - ops.sample(1.0 / self.config.local_pointcloud_freq), - ).subscribe( - on_next=self.pointcloud.publish, - on_error=lambda e: logger.error(f"Lidar stream error: {e}"), - ) - ) - - self.register_disposable( - self._global_map_subject.pipe( - ops.sample(1.0 / self.config.global_map_freq), - ).subscribe( - on_next=self.global_map.publish, - on_error=lambda e: logger.error(f"Map stream error: {e}"), - ) - ) - - # Subscribe to ROS In ports - self.ros_goal_reached.subscribe(self._on_ros_goal_reached) - self.ros_cmd_vel.subscribe(self._on_ros_cmd_vel) - self.ros_way_point.subscribe(self._on_ros_goal_waypoint) - self.ros_registered_scan.subscribe(self._on_ros_registered_scan) - self.ros_global_map.subscribe(self._on_ros_global_map) - self.ros_path.subscribe(self._on_ros_path) - self.ros_tf.subscribe(self._on_ros_tf) - - self.goal_req.subscribe(self._on_goal_pose) - logger.info("NavigationModule started with ROS transport and RxPY streams") - - def _on_ros_goal_reached(self, msg: Bool) -> None: - self._goal_reach = msg.data - if msg.data: - with self._state_lock: - self._goal_reached = True - self._navigation_state = NavigationState.IDLE - - def _on_ros_goal_waypoint(self, msg: PoseStamped) -> None: - self.goal_active.publish(msg) - - def _on_ros_cmd_vel(self, msg: TwistStamped) -> None: - self.cmd_vel.publish(Twist(linear=msg.linear, angular=msg.angular)) - - def _on_ros_registered_scan(self, msg: PointCloud2) -> None: - self._local_pointcloud_subject.on_next(msg) - - def _on_ros_global_map(self, msg: PointCloud2) -> None: - self._global_map_subject.on_next(msg) - - def _on_ros_path(self, msg: Path) -> None: - msg.frame_id = "base_link" - self.path_active.publish(msg) - - def _on_ros_tf(self, msg: TFMessage) -> None: - map_to_world_tf = Transform( - translation=Vector3(0.0, 0.0, 0.0), - rotation=euler_to_quaternion(Vector3(0.0, 0.0, 0.0)), - frame_id="map", - child_frame_id="world", - ts=time.time(), - ) - - self.tf.publish( - self.config.sensor_to_base_link_transform.now(), - map_to_world_tf, - *msg.transforms, - ) - - def _on_goal_pose(self, msg: PoseStamped) -> None: - self.navigate_to(msg) - - def _on_cancel_goal(self, msg: Bool) -> None: - if msg.data: - self.stop() - - def _set_autonomy_mode(self) -> None: - joy_msg = Joy( - axes=[0.0, 0.0, -1.0, 0.0, 1.0, 1.0, 0.0, 0.0], - buttons=[0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0], - ) - self.ros_joy.publish(joy_msg) - logger.info("Setting autonomy mode via Joy message") - - @skill - def goto(self, x: float, y: float) -> str: - """ - move the robot in relative coordinates - x is forward, y is left - - goto(1, 0) will move the robot forward by 1 meter - """ - pose_to = PoseStamped( - position=Vector3(x, y, 0), - orientation=Quaternion(0.0, 0.0, 0.0, 0.0), - frame_id="base_link", - ts=time.time(), - ) - - self.navigate_to(pose_to) - return "arrived" - - @skill - def goto_global(self, x: float, y: float) -> str: - """ - go to coordinates x,y in the map frame - 0,0 is your starting position - """ - target = PoseStamped( - ts=time.time(), - frame_id="map", - position=Vector3(x, y, 0.0), - orientation=Quaternion(0.0, 0.0, 0.0, 0.0), - ) - - self.navigate_to(target) - - return f"arrived to {x:.2f}, {y:.2f}" - - @rpc - def navigate_to(self, pose: PoseStamped, timeout: float = 60.0) -> bool: - """ - Navigate to a target pose by publishing to ROS topics. - - Args: - pose: Target pose to navigate to - timeout: Maximum time to wait for goal (seconds) - - Returns: - True if navigation was successful - """ - logger.info( - f"Navigating to goal: ({pose.position.x:.2f}, {pose.position.y:.2f}, {pose.position.z:.2f} @ {pose.frame_id})" - ) - - self._goal_reach = None - self._set_autonomy_mode() - - # Enable soft stop (0 = enable) - self.ros_soft_stop.publish(Int8(data=0)) - self.ros_goal_pose.publish(pose) - - # Wait for goal to be reached - start_time = time.time() - while time.time() - start_time < timeout: - if self._goal_reach is not None: - self.ros_soft_stop.publish(Int8(data=2)) - return self._goal_reach - time.sleep(0.1) - - self.stop_navigation() - logger.warning(f"Navigation timed out after {timeout} seconds") - return False - - @rpc - def stop_navigation(self) -> bool: - """ - Stop current navigation by publishing to ROS topics. - - Returns: - True if stop command was sent successfully - """ - logger.info("Stopping navigation") - - self.ros_cancel_goal.publish(Bool(data=True)) - self.ros_soft_stop.publish(Int8(data=2)) - - with self._state_lock: - self._navigation_state = NavigationState.IDLE - self._current_goal = None - self._goal_reached = False - - return True - - @rpc - def set_goal(self, goal: PoseStamped) -> bool: - """Set a new navigation goal (non-blocking).""" - with self._state_lock: - self._current_goal = goal - self._goal_reached = False - self._navigation_state = NavigationState.FOLLOWING_PATH - - # Start navigation in a separate thread to make it non-blocking - if self._navigation_thread and self._navigation_thread.is_alive(): - logger.warning("Previous navigation still running, cancelling") - self.stop_navigation() - self._navigation_thread.join(timeout=DEFAULT_THREAD_JOIN_TIMEOUT) - - self._navigation_thread = threading.Thread( - target=self._navigate_to_goal_async, - args=(goal,), - daemon=True, - name="ROSNavNavigationThread", - ) - self._navigation_thread.start() - - return True - - def _navigate_to_goal_async(self, goal: PoseStamped) -> None: - """Internal method to handle navigation in a separate thread.""" - try: - result = self.navigate_to(goal, timeout=60.0) - with self._state_lock: - self._goal_reached = result - self._navigation_state = NavigationState.IDLE - except Exception as e: - logger.error(f"Navigation failed: {e}") - with self._state_lock: - self._goal_reached = False - self._navigation_state = NavigationState.IDLE - - @rpc - def get_state(self) -> NavigationState: - """Get the current state of the navigator.""" - with self._state_lock: - return self._navigation_state - - @rpc - def is_goal_reached(self) -> bool: - """Check if the current goal has been reached.""" - with self._state_lock: - return self._goal_reached - - @rpc - def cancel_goal(self) -> bool: - """Cancel the current navigation goal.""" - - with self._state_lock: - had_goal = self._current_goal is not None - - if had_goal: - self.stop_navigation() - - return had_goal - - @rpc - def stop(self) -> None: - """Stop the navigation module and clean up resources.""" - self.stop_navigation() - try: - self._running = False - - self._local_pointcloud_subject.on_completed() - self._global_map_subject.on_completed() - - except Exception as e: - logger.error(f"Error during shutdown: {e}") - finally: - super().stop() - - -def deploy(dimos: ModuleCoordinator): # type: ignore[no-untyped-def] - nav = dimos.deploy(ROSNav) - - # Existing ports on LCM transports - nav.pointcloud.transport = LCMTransport("/lidar", PointCloud2) - nav.global_map.transport = LCMTransport("/map", PointCloud2) - nav.goal_req.transport = LCMTransport("/goal_req", PoseStamped) - nav.goal_active.transport = LCMTransport("/goal_active", PoseStamped) - nav.path_active.transport = LCMTransport("/path_active", Path) - nav.cmd_vel.transport = LCMTransport("/cmd_vel", Twist) - - # ROS In transports (receiving from ROS navigation stack) - nav.ros_goal_reached.transport = ROSTransport("/goal_reached", Bool) - nav.ros_cmd_vel.transport = ROSTransport("/cmd_vel", TwistStamped) - nav.ros_way_point.transport = ROSTransport("/way_point", PoseStamped) - nav.ros_registered_scan.transport = ROSTransport("/registered_scan", PointCloud2) - nav.ros_global_map.transport = ROSTransport("/terrain_map_ext", PointCloud2) - nav.ros_path.transport = ROSTransport("/path", Path) - nav.ros_tf.transport = ROSTransport("/tf", TFMessage) - - # ROS Out transports (publishing to ROS navigation stack) - nav.ros_goal_pose.transport = ROSTransport("/goal_pose", PoseStamped) - nav.ros_cancel_goal.transport = ROSTransport("/cancel_goal", Bool) - nav.ros_soft_stop.transport = ROSTransport("/stop", Int8) - nav.ros_joy.transport = ROSTransport("/joy", Joy) - - nav.start() - return nav diff --git a/dimos/navigation/smart_nav/.gitignore b/dimos/navigation/smart_nav/.gitignore new file mode 100644 index 0000000000..c785fc425e --- /dev/null +++ b/dimos/navigation/smart_nav/.gitignore @@ -0,0 +1,6 @@ +# Nix build outputs (symlinks to /nix/store) +results/ +result + +# Cloned C++ source repos +repo/ diff --git a/dimos/navigation/smart_nav/frames.py b/dimos/navigation/smart_nav/frames.py new file mode 100644 index 0000000000..71a8b851fd --- /dev/null +++ b/dimos/navigation/smart_nav/frames.py @@ -0,0 +1,28 @@ +# 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. + +"""Standard TF frame IDs for the SmartNav navigation stack. + +Follows the ROS REP-105 frame convention: + + map → odom → body + +- **map**: Global, loop-closure-corrected frame (published by PGO). +- **odom**: Continuous, locally smooth frame with no jumps (published by FastLio2). +- **body**: Robot body / IMU frame. +""" + +FRAME_MAP = "map" +FRAME_ODOM = "odom" +FRAME_BODY = "body" diff --git a/dimos/navigation/smart_nav/main.py b/dimos/navigation/smart_nav/main.py new file mode 100644 index 0000000000..88aac79619 --- /dev/null +++ b/dimos/navigation/smart_nav/main.py @@ -0,0 +1,558 @@ +# 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. + +"""SmartNav composable navigation stack. + +`smart_nav(**kwargs)` returns an autoconnected Blueprint containing the core +SmartNav modules (terrain analysis, local planner, path follower, FAR planner, +PGO, click-to-goal, cmd-vel mux), with optional TARE exploration. + +`smart_nav_rerun_config(user_config)` returns a Rerun config dict with the +SmartNav defaults filled in via setdefault — pass it to `RerunBridgeModule` +or `vis_module` separately. + +Defaults match the onboard (real hardware) configuration. Override any +module's config via per-module kwarg dicts (e.g. +`terrain_analysis={"obstacle_height_threshold": 0.1}`). +""" + +from __future__ import annotations + +import logging +from typing import Any + +from dimos.core.coordination.blueprints import Blueprint, autoconnect +from dimos.core.module import ModuleBase +from dimos.spec.utils import Spec + +logger = logging.getLogger(__name__) +from dimos.navigation.smart_nav.modules.far_planner.far_planner import FarPlanner +from dimos.navigation.smart_nav.modules.local_planner.local_planner import LocalPlanner +from dimos.navigation.smart_nav.modules.movement_manager.movement_manager import MovementManager +from dimos.navigation.smart_nav.modules.path_follower.path_follower import PathFollower +from dimos.navigation.smart_nav.modules.pgo.pgo import PGO +from dimos.navigation.smart_nav.modules.simple_planner.simple_planner import SimplePlanner +from dimos.navigation.smart_nav.modules.tare_planner.tare_planner import TarePlanner +from dimos.navigation.smart_nav.modules.terrain_analysis.terrain_analysis import TerrainAnalysis +from dimos.navigation.smart_nav.modules.terrain_map_ext.terrain_map_ext import TerrainMapExt +from dimos.protocol.pubsub.impl.lcmpubsub import LCM + + +def smart_nav( + *, + use_tare: bool = False, + use_terrain_map_ext: bool = True, + use_simple_planner: bool = False, + vehicle_height: float | None = None, + max_speed: float | None = None, + terrain_analysis: dict[str, Any] | None = None, + terrain_map_ext: dict[str, Any] | None = None, + local_planner: dict[str, Any] | None = None, + path_follower: dict[str, Any] | None = None, + far_planner: dict[str, Any] | None = None, + simple_planner: dict[str, Any] | None = None, + pgo: dict[str, Any] | None = None, + movement_manager: dict[str, Any] | None = None, + tare_planner: dict[str, Any] | None = None, +) -> Blueprint: + """Compose a SmartNav autoconnect Blueprint with the given options. + + Core external streams (always present regardless of toggles): + + registered_scan: In[PointCloud2] — world-frame lidar scan + odometry: In[Odometry] — raw SLAM odometry + clicked_point: In[PointStamped] — click-to-goal from UI + joy_cmd: In[Twist] — optional joystick override + tele_cmd_vel: In[Twist] — optional teleop command + + cmd_vel: Out[Twist] — final velocity command (MovementManager) + corrected_odometry: Out[Odometry] — PGO loop-closure-corrected pose + global_map: Out[PointCloud2] — PGO accumulated keyframe map + terrain_map: Out[PointCloud2] — TerrainAnalysis ground/obstacle grid + path: Out[Path] — LocalPlanner's chosen local path + goal_path: Out[Path] — FAR planner's global path + way_point: Out[PointStamped] — current waypoint target + goal: Out[PointStamped] — current navigation goal + stop_movement: Out[Bool] — stop signal from MovementManager + + Args: + use_tare: Add the TARE frontier-based exploration planner. Auto-remaps + MovementManager's `way_point` output so TARE has exclusive control + of LocalPlanner's waypoint input. + use_terrain_map_ext: Add TerrainMapExt — the persistent extended terrain + accumulator used for visualization and wider-range planning. + vehicle_height: Ignore terrain points above this height (m). Threaded + into TerrainAnalysis's `vehicle_height` config. Defaults to 1.2m. + max_speed: Cap peak velocity (m/s) on both LocalPlanner (planning) and + PathFollower (execution). Sets `max_speed` and `autonomy_speed` on + both modules. Per-module overrides still win. + terrain_analysis, terrain_map_ext, local_planner, path_follower, + far_planner, pgo, movement_manager, tare_planner: + Per-module config override dicts. Merged on top + of the SmartNav defaults. + + Returns: + An autoconnected Blueprint with the selected modules wired together. + """ + terrain_analysis_config = {**(terrain_analysis or {})} + local_planner_config = {**(local_planner or {})} + terrain_analysis_threshold = terrain_analysis_config.get("obstacle_height_threshold", 0.1) + local_planner_threshold = local_planner_config.get("obstacle_height_threshold", 0.1) + if terrain_analysis_threshold < local_planner_threshold: + logger.warning( + "terrain_analysis obstacle_height_threshold (%.3f) < " + "local_planner obstacle_height_threshold (%.3f). " + "Terrain analysis will pass through points that local_planner " + "treats as hard obstacles, causing phantom obstacle blocking.", + terrain_analysis_threshold, + local_planner_threshold, + ) + + modules: list[Blueprint] = [ + TerrainAnalysis.blueprint( + **{ + # Input filtering + "scan_voxel_size": 0.05, + # Voxel grid + "terrain_voxel_size": 0.2, + "terrain_voxel_half_width": 10, + # Obstacle/ground classification + "obstacle_height_threshold": 0.1, + "ground_height_threshold": 0.1, + "min_relative_z": -1.5, + "max_relative_z": 0.3, + "use_sorting": True, + "quantile_z": 0.25, + # Decay and clearing + "decay_time": 1.0, + "no_decay_distance": 1.5, + "clearing_distance": 8.0, + "clear_dynamic_obstacles": True, + "no_data_obstacle": False, + "no_data_block_skip_count": 0, + "min_block_point_count": 10, + # Voxel culling + "voxel_point_update_threshold": 100, + "voxel_time_update_threshold": 2.0, + # Dynamic obstacle filtering + "min_dynamic_obstacle_distance": 0.14, + "abs_dynamic_obstacle_relative_z_threshold": 0.2, + "min_dynamic_obstacle_vfov": -55.0, + "max_dynamic_obstacle_vfov": 10.0, + "min_dynamic_obstacle_point_count": 1, + "min_out_of_fov_point_count": 20, + # Ground lift limits + "consider_drop": False, + "limit_ground_lift": False, + "max_ground_lift": 0.15, + "distance_ratio_z": 0.2, + "vehicle_height": 1.5 if vehicle_height is None else vehicle_height, + **(terrain_analysis or {}), + } + ), + LocalPlanner.blueprint( + **{ + "autonomy_mode": True, + "use_terrain_analysis": True, + "max_speed": 1.0 if max_speed is None else max_speed, + "autonomy_speed": 1.0 if max_speed is None else max_speed, + "obstacle_height_threshold": 0.1, + "max_relative_z": 0.3, + "min_relative_z": -0.4, + "two_way_drive": False, + **(local_planner or {}), + } + ), + PathFollower.blueprint( + **{ + "autonomy_mode": True, + "max_speed": 1.0 if max_speed is None else max_speed, + "autonomy_speed": 1.0 if max_speed is None else max_speed, + "max_acceleration": 1.0, + "slow_down_distance_threshold": 1.0, + "omni_dir_goal_threshold": 1.0, + "two_way_drive": False, + **(path_follower or {}), + } + ), + *( + [ + SimplePlanner.blueprint( + **{ + **( + {"ground_offset_below_robot": vehicle_height} + if vehicle_height is not None + else {} + ), + **(simple_planner or {}), + } + ) + ] + if use_simple_planner + else [FarPlanner.blueprint(**(far_planner or {}))] + ), + PGO.blueprint(**(pgo or {})), + MovementManager.blueprint(**(movement_manager or {})), + ] + if use_terrain_map_ext: + modules.append( + TerrainMapExt.blueprint( + **{ + "voxel_size": 0.1, + # Walls are static — keep them around long enough that + # a global planner (SimplePlanner / FarPlanner) doesn't + # see freshly-empty cells behind the robot and route + # paths straight through the walls it can't currently + # see. 8 s was way too aggressive for that. + # "decay_time": 300.0, + "decay_time": 30.0, + "publish_rate": 2.0, + "max_range": 40.0, + **(terrain_map_ext or {}), + } + ) + ) + if use_tare: + modules.append(TarePlanner.blueprint(**(tare_planner or {}))) + + remappings: list[tuple[type[ModuleBase], str, str | type[ModuleBase] | type[Spec]]] = [ + # PathFollower cmd_vel → MovementManager nav input (avoid collision with mux output) + (PathFollower, "cmd_vel", "nav_cmd_vel"), + # NativeModule planners still receive corrected odometry via the + # stream (C++ binaries subscribe to LCM topics directly). + # Python modules (SimplePlanner, MovementManager) query the TF tree + # instead (map→body via the PGO map→odom + FastLio2 odom→body chain). + *([] if use_simple_planner else [(FarPlanner, "odometry", "corrected_odometry")]), + (TerrainAnalysis, "odometry", "corrected_odometry"), + # Planner owns way_point — disconnect MovementManager's click relay. + (MovementManager, "way_point", "_mgr_way_point_unused"), + (PGO, "global_map", "global_map_pgo"), + ] + + return autoconnect(*modules).remappings(remappings) + + +# ─── Rerun visual overrides (robot-agnostic) ───────────────────────────────── + + +def smart_nav_rerun_config( + user_config: dict[str, Any] | None = None, + *, + agentic_debug: bool = False, +) -> dict[str, Any]: + """Return a rerun config dict with SmartNav defaults filled in via setdefault. + + The caller's entries win — this just ensures missing keys (blueprint, + pubsubs, visual_override entries, static entries) are + populated with the SmartNav defaults. + + Args: + agentic_debug: When True, elevate nav paths, goals, and waypoints high + above the scene so they're visible even when occluded by + terrain/obstacles. Useful for debugging planner behavior from a + top-down view. + """ + resolved = dict(user_config or {}) + resolved.setdefault("blueprint", _default_rerun_blueprint) + resolved.setdefault("pubsubs", [LCM()]) + resolved.setdefault("visual_override", {}) + resolved.setdefault("static", {}) + visual_override = dict(resolved["visual_override"]) + visual_override.setdefault("world/sensor_scan", _sensor_scan_override) + visual_override.setdefault("world/terrain_map", _terrain_map_override) + visual_override.setdefault("world/terrain_map_ext", _terrain_map_ext_override) + visual_override.setdefault("world/global_map", _global_map_override) + visual_override.setdefault("world/explored_areas", _explored_areas_override) + visual_override.setdefault("world/preloaded_map", _preloaded_map_override) + visual_override.setdefault("world/trajectory", _trajectory_override) + visual_override.setdefault("world/path", _path_override) + if agentic_debug: + visual_override.setdefault("world/way_point", _waypoint_override_debug) + visual_override.setdefault("world/goal", _goal_override_debug) + visual_override.setdefault("world/goal_path", _goal_path_override_debug) + visual_override.setdefault("world/nav_boundary", _nav_boundary_override_debug) + else: + visual_override.setdefault("world/way_point", _waypoint_override) + visual_override.setdefault("world/goal", _goal_override) + visual_override.setdefault("world/goal_path", _goal_path_override) + visual_override.setdefault("world/nav_boundary", _nav_boundary_override) + visual_override.setdefault("world/obstacle_cloud", _obstacle_cloud_override) + visual_override.setdefault("world/costmap_cloud", _costmap_cloud_override) + visual_override.setdefault("world/free_paths", _free_paths_override) + resolved["visual_override"] = visual_override + static_entries = dict(resolved["static"]) + static_entries.setdefault("world/floor", _static_floor) + resolved["static"] = static_entries + return resolved + + +# Z-offsets for Rerun visualization (metres above the data's actual z). +# Small lifts prevent z-fighting with the terrain/floor plane. +_VIS_LIFT = 0.3 # default lift for nav markers (goals, paths, boundaries) +_VIS_LIFT_TRAJECTORY = 0.05 # trajectory breadcrumbs sit just above the floor + +# Agentic debug mode lifts nav elements high above the scene so they're +# visible from a top-down camera even when terrain occludes them. +_AGENTIC_DEBUG_LIFT = 3.0 +_AGENTIC_DEBUG_PATH_LIFT = _AGENTIC_DEBUG_LIFT + 0.4 # path slightly above goal markers +_AGENTIC_DEBUG_BOUNDARY_LIFT = _AGENTIC_DEBUG_LIFT - 1.0 # boundary below markers + + +def _default_rerun_blueprint() -> Any: + import rerun.blueprint as rrb + + return rrb.Blueprint( + rrb.Spatial3DView(origin="world", name="3D"), + ) + + +def _sensor_scan_override(cloud: Any) -> Any: + """Hide sensor_scan — it clutters the view with raw lidar returns.""" + return None + + +def _global_map_override(cloud: Any) -> Any: + """Render accumulated global map — small grey/blue points for map context.""" + return cloud.to_rerun(colormap="cool", size=0.03) + + +def _terrain_map_override(cloud: Any) -> Any: + """Render terrain_map: big green dots = traversable, red = obstacle. + + The terrain_analysis C++ module sets point intensity to the height + difference above the planar voxel ground. Low intensity → ground, + high intensity → obstacle. + """ + import numpy as np + import rerun as rr + + points, _ = cloud.as_numpy() + if len(points) == 0: + return None + + # Color by z-height: low = green (ground), high = red (obstacle) + z = points[:, 2] + z_min, z_max = z.min(), z.max() + z_norm = (z - z_min) / (z_max - z_min + 1e-8) + + colors = np.zeros((len(points), 3), dtype=np.uint8) + colors[:, 0] = (z_norm * 255).astype(np.uint8) # R + colors[:, 1] = ((1 - z_norm) * 200 + 55).astype(np.uint8) # G + colors[:, 2] = 30 + + return rr.Points3D(positions=points[:, :3], colors=colors, radii=0.08) + + +def _costmap_cloud_override(cloud: Any) -> Any: + """Render SimplePlanner's costmap_cloud — the blocked grid cells + (with inflation) that A* actually treats as obstacles. Big red + boxes so they pop against the terrain clouds. + """ + import numpy as np + import rerun as rr + + points, _ = cloud.as_numpy() + if len(points) == 0: + return None + colors = np.full((len(points), 3), [255, 40, 40], dtype=np.uint8) + return rr.Points3D(positions=points[:, :3], colors=colors, radii=0.12) + + +def _obstacle_cloud_override(cloud: Any) -> Any: + """Render LocalPlanner's obstacle_cloud — the vehicle-frame crop the C++ + planner actually tests candidate paths against. Colored by intensity + (= height above ground) with a `plasma` colormap so it's visually + distinct from terrain_map. Attached to the sensor TF frame since the + points are already in vehicle frame. + """ + import rerun as rr + + arch = cloud.to_rerun(colormap="plasma", size=0.06) + return [ + ("world/obstacle_cloud", rr.Transform3D(parent_frame="tf#/sensor")), + ("world/obstacle_cloud", arch), + ] + + +def _explored_areas_override(cloud: Any) -> Any: + """Render PreloadedMapTracker's explored_areas — cumulative seen points.""" + return cloud.to_rerun(colormap="magma", size=0.05) + + +def _preloaded_map_override(cloud: Any) -> Any: + """Render PreloadedMapTracker's static pre-loaded reference map.""" + return cloud.to_rerun(colormap="greys", size=0.04) + + +def _trajectory_override(cloud: Any) -> Any: + """Render robot trajectory breadcrumb as a connected line strip.""" + import rerun as rr + + points, _ = cloud.as_numpy() + if len(points) < 2: + return None + pts = [[float(p[0]), float(p[1]), float(p[2]) + _VIS_LIFT_TRAJECTORY] for p in points] + return [ + ("world/trajectory/line", rr.LineStrips3D([pts], colors=[(0, 200, 255)], radii=0.03)), + ("world/trajectory/nodes", rr.Points3D(pts, colors=[(0, 150, 255)], radii=0.05)), + ] + + +def _terrain_map_ext_override(cloud: Any) -> Any: + """Render extended terrain map — persistent accumulated cloud.""" + return cloud.to_rerun(colormap="viridis", size=0.06) + + +def _path_override(path_msg: Any) -> Any: + """Render path in vehicle frame by attaching to the sensor TF.""" + import rerun as rr + + if not path_msg.poses: + return None + + points = [[p.x, p.y, p.z + _VIS_LIFT] for p in path_msg.poses] + return [ + ("world/nav_path", rr.Transform3D(parent_frame="tf#/sensor")), + ("world/nav_path", rr.LineStrips3D([points], colors=[(0, 255, 128)], radii=0.05)), + ] + + +def _nav_boundary_override(msg: Any) -> Any: + """Render navigation boundary as cyan edges.""" + return msg.to_rerun(z_offset=_VIS_LIFT, color=(0, 220, 255, 200), radii=0.05) + + +def _goal_path_override(path_msg: Any) -> Any: + """Render FAR planner's planned path: orange line + yellow node markers.""" + import rerun as rr + + if not path_msg.poses or len(path_msg.poses) < 2: + return None + + points = [[p.x, p.y, p.z + _VIS_LIFT] for p in path_msg.poses] + return [ + # Edges: orange line connecting all waypoints + ("world/goal_path/edges", rr.LineStrips3D([points], colors=[(255, 140, 0)], radii=0.06)), + # Nodes: yellow spheres at each graph node in the path + ("world/goal_path/nodes", rr.Points3D(points, colors=[(255, 255, 0)], radii=0.15)), + ] + + +def _waypoint_override(msg: Any) -> Any: + """Render the current waypoint goal as a visible marker.""" + import math + + import rerun as rr + + if not all(math.isfinite(v) for v in (msg.x, msg.y, msg.z)): + return None + + return rr.Points3D( + positions=[[msg.x, msg.y, msg.z + _VIS_LIFT]], + colors=[(255, 50, 50)], + radii=0.4, + ) + + +def _goal_override(msg: Any) -> Any: + """Render the current navigation goal as a large purple sphere.""" + import math + + import rerun as rr + + if not all(math.isfinite(v) for v in (msg.x, msg.y, msg.z)): + return None + + return rr.Points3D( + positions=[[msg.x, msg.y, msg.z + _VIS_LIFT]], + colors=[(180, 60, 220)], + radii=0.6, + ) + + +def _free_paths_override(cloud: Any) -> Any: + """Render LocalPlanner free (collision-free) candidate paths in vehicle frame.""" + import rerun as rr + + return [ + ("world/free_paths", rr.Transform3D(parent_frame="tf#/sensor")), + ("world/free_paths", cloud.to_rerun(colormap="cool", size=0.02)), + ] + + +def _static_floor(rr: Any) -> list[Any]: + """Static ground plane at z=0 as a solid textured quad.""" + + s = 50.0 # half-size + return [ + rr.Mesh3D( + vertex_positions=[[-s, -s, 0], [s, -s, 0], [s, s, 0], [-s, s, 0]], + triangle_indices=[[0, 1, 2], [0, 2, 3]], + vertex_colors=[[40, 40, 40, 120]] * 4, + ) + ] + + +# ─── Debug overrides (elevated paths for top-down debugging) ───────────────── + + +def _waypoint_override_debug(msg: Any) -> Any: + """Agentic debug: waypoint elevated above the scene.""" + import math + + import rerun as rr + + if not all(math.isfinite(v) for v in (msg.x, msg.y, msg.z)): + return None + + return rr.Points3D( + positions=[[msg.x, msg.y, msg.z + _AGENTIC_DEBUG_LIFT]], + colors=[(255, 50, 50)], + radii=0.4, + ) + + +def _goal_override_debug(msg: Any) -> Any: + """Agentic debug: goal elevated above the scene.""" + import math + + import rerun as rr + + if not all(math.isfinite(v) for v in (msg.x, msg.y, msg.z)): + return None + + return rr.Points3D( + positions=[[msg.x, msg.y, msg.z + _AGENTIC_DEBUG_LIFT]], + colors=[(180, 60, 220)], + radii=0.6, + ) + + +def _goal_path_override_debug(path_msg: Any) -> Any: + """Agentic debug: goal path elevated above the scene.""" + import rerun as rr + + if not path_msg.poses or len(path_msg.poses) < 2: + return None + + points = [[p.x, p.y, p.z + _AGENTIC_DEBUG_PATH_LIFT] for p in path_msg.poses] + return [ + ("world/goal_path/edges", rr.LineStrips3D([points], colors=[(255, 140, 0)], radii=0.06)), + ("world/goal_path/nodes", rr.Points3D(points, colors=[(255, 255, 0)], radii=0.15)), + ] + + +def _nav_boundary_override_debug(msg: Any) -> Any: + """Agentic debug: nav boundary elevated above the scene.""" + return msg.to_rerun(z_offset=_AGENTIC_DEBUG_BOUNDARY_LIFT, color=(0, 220, 255, 200), radii=0.05) diff --git a/dimos/navigation/smart_nav/modules/far_planner/far_planner.py b/dimos/navigation/smart_nav/modules/far_planner/far_planner.py new file mode 100644 index 0000000000..297a6a3d5a --- /dev/null +++ b/dimos/navigation/smart_nav/modules/far_planner/far_planner.py @@ -0,0 +1,134 @@ +# 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. + +"""FarPlanner NativeModule: C++ visibility-graph route planner. + +Ported from far_planner + boundary_handler + graph_decoder. Builds a +visibility graph from the classified terrain map, finds routes to goals, +and outputs intermediate waypoints for the local planner. +""" + +from __future__ import annotations + +from pathlib import Path + +from dimos_lcm.std_msgs import Bool # type: ignore[import-untyped] + +from dimos.core.native_module import NativeModule, NativeModuleConfig +from dimos.core.stream import In, Out +from dimos.msgs.geometry_msgs.PointStamped import PointStamped +from dimos.msgs.nav_msgs.ContourPolygons3D import ContourPolygons3D +from dimos.msgs.nav_msgs.GraphNodes3D import GraphNodes3D +from dimos.msgs.nav_msgs.LineSegments3D import LineSegments3D +from dimos.msgs.nav_msgs.Odometry import Odometry +from dimos.msgs.nav_msgs.Path import Path as NavPath +from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 + + +class FarPlannerConfig(NativeModuleConfig): + """Config for the FAR planner native module.""" + + cwd: str | None = str(Path(__file__).resolve().parent) + executable: str = "result/bin/far_planner_native" + build_command: str | None = ( + "nix build github:dimensionalOS/dimos-module-far-planner/v0.4.0 --no-write-lock-file" + ) + + # C++ binary uses snake_case CLI args. + cli_name_override: dict[str, str] = { + "robot_dimension": "robot_dim", + } + + # --- Core planner parameters (mirrors LoadROSParams) --- + update_rate: float = 5.0 + robot_dimension: float = 0.5 + voxel_dim: float = 0.1 + sensor_range: float = 30.0 + terrain_range: float = 7.5 + local_planner_range: float = 2.5 + vehicle_height: float = 0.75 + is_static_env: bool = True + is_viewpoint_extend: bool = True + is_multi_layer: bool = False + is_debug_output: bool = False + is_attempt_autoswitch: bool = True + world_frame: str = "map" + + # --- Graph planner params --- + converge_dist: float = 1.5 + goal_adjust_radius: float = 10.0 + free_counter_thred: int = 5 + reach_goal_vote_size: int = 5 + path_momentum_thred: int = 5 + + # --- Map handler params --- + floor_height: float = 2.0 + cell_length: float = 5.0 + map_grid_max_length: float = 1000.0 + map_grad_max_height: float = 100.0 + + # --- Dynamic graph params --- + connect_votes_size: int = 10 + clear_dumper_thred: int = 3 + node_finalize_thred: int = 3 + filter_pool_size: int = 12 + + # --- Contour detector params --- + resize_ratio: float = 5.0 + filter_count_value: int = 5 + + # --- Utility params --- + angle_noise: float = 15.0 + accept_max_align_angle: float = 15.0 + new_intensity_thred: float = 2.0 + dynamic_obs_decay_time: float = 10.0 + new_points_decay_time: float = 2.0 + dyobs_update_thred: int = 4 + new_point_counter: int = 10 + obs_inflate_size: int = 2 + visualize_ratio: float = 0.4 + + +class FarPlanner(NativeModule): + """FAR planner: visibility-graph global route planner. + + Builds and maintains a visibility graph from classified terrain maps, + then finds shortest paths through the graph to navigation goals. + Outputs intermediate waypoints for the local planner. + + Ports: + terrain_map_ext (In[PointCloud2]): Extended terrain map (classified obstacles). + terrain_map (In[PointCloud2]): Scan-based terrain map (alternative input). + registered_scan (In[PointCloud2]): Raw lidar scan (for dynamic obs detection). + odometry (In[Odometry]): Vehicle state (corrected by PGO). + goal (In[PointStamped]): User-specified navigation goal. + stop_movement (In[Bool]): Cancel active goal and go idle. + way_point (Out[PointStamped]): Intermediate waypoint for local planner. + goal_path (Out[NavPath]): Full planned path to goal. + """ + + config: FarPlannerConfig + + terrain_map_ext: In[PointCloud2] + terrain_map: In[PointCloud2] + registered_scan: In[PointCloud2] + odometry: In[Odometry] + goal: In[PointStamped] + stop_movement: In[Bool] + way_point: Out[PointStamped] + goal_path: Out[NavPath] + graph_nodes: Out[GraphNodes3D] + graph_edges: Out[LineSegments3D] + contour_polygons: Out[ContourPolygons3D] + nav_boundary: Out[LineSegments3D] diff --git a/dimos/navigation/smart_nav/modules/far_planner/test_far_planner.py b/dimos/navigation/smart_nav/modules/far_planner/test_far_planner.py new file mode 100644 index 0000000000..fb03e60238 --- /dev/null +++ b/dimos/navigation/smart_nav/modules/far_planner/test_far_planner.py @@ -0,0 +1,110 @@ +# 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. + +"""Tests for FarPlanner NativeModule wrapper.""" + +from pathlib import Path + +import pytest + +from dimos.navigation.smart_nav.modules.far_planner.far_planner import FarPlanner, FarPlannerConfig + + +class TestFarPlannerConfig: + """Test FarPlanner configuration.""" + + def test_default_config(self): + config = FarPlannerConfig() + assert config.update_rate == 5.0 + assert config.robot_dimension == 0.5 + assert config.sensor_range == 15.0 + assert config.voxel_dim == 0.1 + assert config.terrain_range == 7.5 + assert config.is_static_env is False + + def test_cli_args_generation(self): + config = FarPlannerConfig( + sensor_range=20.0, + robot_dimension=0.8, + is_static_env=True, + ) + args = config.to_cli_args() + assert "--sensor_range" in args + assert "20.0" in args + assert "--robot_dim" in args # cli_name_override maps robot_dimension -> robot_dim + assert "0.8" in args + assert "--is_static_env" in args + assert "true" in args + + def test_all_config_fields_generate_cli_args(self): + """Every non-NativeModuleConfig field should produce a CLI arg.""" + config = FarPlannerConfig() + args = config.to_cli_args() + for expected in [ + "--update_rate", + "--voxel_dim", + "--terrain_range", + "--floor_height", + "--converge_dist", + "--angle_noise", + ]: + assert expected in args, f"Missing CLI arg: {expected}" + + +class TestFarPlannerModule: + """Test FarPlanner module declaration.""" + + def test_ports_declared(self): + from typing import get_origin, get_type_hints + + from dimos.core.stream import In, Out + + hints = get_type_hints(FarPlanner) + in_ports = {k for k, v in hints.items() if get_origin(v) is In} + out_ports = {k for k, v in hints.items() if get_origin(v) is Out} + + assert "terrain_map_ext" in in_ports + assert "terrain_map" in in_ports + assert "registered_scan" in in_ports + assert "odometry" in in_ports + assert "goal" in in_ports + assert "way_point" in out_ports + assert "goal_path" in out_ports + + +@pytest.mark.skipif( + not Path(__file__).resolve().parent.joinpath("repo", "result", "bin").exists(), + reason="Native binary not built (run nix build first)", +) +class TestPathResolution: + """Verify native module paths resolve to real filesystem locations.""" + + def _make(self): + return FarPlanner() + + def test_cwd_resolves_to_existing_directory(self): + m = self._make() + try: + assert Path(m.config.cwd).exists(), f"cwd does not exist: {m.config.cwd}" + assert Path(m.config.cwd).is_dir() + finally: + m.stop() + + def test_executable_exists(self): + m = self._make() + try: + exe = Path(m.config.executable) + assert exe.exists(), f"Binary not found: {exe}. Run nix build first." + finally: + m.stop() diff --git a/dimos/navigation/smart_nav/modules/local_planner/local_planner.py b/dimos/navigation/smart_nav/modules/local_planner/local_planner.py new file mode 100644 index 0000000000..a7bfdf0b18 --- /dev/null +++ b/dimos/navigation/smart_nav/modules/local_planner/local_planner.py @@ -0,0 +1,262 @@ +# 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. + +"""LocalPlanner NativeModule: C++ local path planner with obstacle avoidance. + +Ported from localPlanner.cpp. Uses pre-computed path sets and DWA-like +evaluation to select collision-free paths toward goals. +""" + +from __future__ import annotations + +from pathlib import Path +from typing import Any + +from dimos_lcm.geometry_msgs import PolygonStamped +from dimos_lcm.std_msgs import Float32 + +from dimos.core.native_module import NativeModule, NativeModuleConfig +from dimos.core.stream import In, Out +from dimos.msgs.geometry_msgs.PointStamped import PointStamped +from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped +from dimos.msgs.geometry_msgs.Twist import Twist +from dimos.msgs.nav_msgs.Odometry import Odometry +from dimos.msgs.nav_msgs.Path import Path as NavPath +from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 +from dimos.msgs.std_msgs.Bool import Bool +from dimos.msgs.std_msgs.Int8 import Int8 +from dimos.utils.data import get_data + + +def _default_paths_dir() -> str: + """Resolve path data from LFS.""" + return str(get_data("smart_nav_paths")) + + +class LocalPlannerConfig(NativeModuleConfig): + """Config for the local planner native module. + + Fields with ``None`` default are omitted from the CLI. + """ + + cwd: str | None = str(Path(__file__).resolve().parent) + executable: str = "result/bin/local_planner" + # build_command: str | None = "nix build --no-write-lock-file" + build_command: str | None = ( + "nix build github:dimensionalOS/dimos-module-local-planner/v0.3.1 --no-write-lock-file" + ) + + # C++ binary uses camelCase CLI args. + cli_name_override: dict[str, str] = { + "max_speed": "maxSpeed", + "autonomy_speed": "autonomySpeed", + "autonomy_mode": "autonomyMode", + "use_terrain_analysis": "useTerrainAnalysis", + "obstacle_height_threshold": "obstacleHeightThre", + "ground_height_threshold": "groundHeightThre", + "cost_height_thre1": "costHeightThre1", + "cost_height_thre2": "costHeightThre2", + "max_relative_z": "maxRelZ", + "min_relative_z": "minRelZ", + "goal_clearance": "goalClearance", + "goal_reached_threshold": "goalReachedThreshold", + "goal_behind_range": "goalBehindRange", + "goal_yaw_threshold": "goalYawThreshold", + "freeze_ang": "freezeAng", + "freeze_time": "freezeTime", + "two_way_drive": "twoWayDrive", + "goal_x": "goalX", + "goal_y": "goalY", + "vehicle_length": "vehicleLength", + "vehicle_width": "vehicleWidth", + "sensor_offset_x": "sensorOffsetX", + "sensor_offset_y": "sensorOffsetY", + "laser_voxel_size": "laserVoxelSize", + "terrain_voxel_size": "terrainVoxelSize", + "check_obstacle": "checkObstacle", + "check_rot_obstacle": "checkRotObstacle", + "adjacent_range": "adjacentRange", + "use_cost": "useCost", + "slow_path_num_thre": "slowPathNumThre", + "slow_group_num_thre": "slowGroupNumThre", + "point_per_path_thre": "pointPerPathThre", + "dir_weight": "dirWeight", + "dir_thre": "dirThre", + "dir_to_vehicle": "dirToVehicle", + "path_scale": "pathScale", + "min_path_scale": "minPathScale", + "path_scale_step": "pathScaleStep", + "path_scale_by_speed": "pathScaleBySpeed", + "min_path_range": "minPathRange", + "path_range_step": "pathRangeStep", + "path_range_by_speed": "pathRangeBySpeed", + "path_crop_by_goal": "pathCropByGoal", + "joy_to_speed_delay": "joyToSpeedDelay", + "joy_to_check_obstacle_delay": "joyToCheckObstacleDelay", + "omni_dir_goal_thre": "omniDirGoalThre", + } + + # Path data directory (auto-resolved from LFS) + paths_dir: str = "" + + def model_post_init(self, __context: Any) -> None: + super().model_post_init(__context) + if not self.paths_dir: + self.paths_dir = _default_paths_dir() + + # --- Vehicle geometry --- + + # Vehicle length for collision checking (m). + vehicle_length: float | None = None + # Vehicle width for collision checking (m). + vehicle_width: float | None = None + # Sensor X offset from vehicle center (m). + sensor_offset_x: float | None = None + # Sensor Y offset from vehicle center (m). + sensor_offset_y: float | None = None + + # Maximum velocity the planner will command (m/s). + max_speed: float = 2.0 + # Velocity cap during autonomous navigation (m/s). + autonomy_speed: float = 1.0 + + # Enable fully autonomous waypoint-following mode. + autonomy_mode: bool | None = None + # Use terrain analysis cost map for obstacle avoidance. + use_terrain_analysis: bool | None = None + # Check obstacles along paths. + check_obstacle: bool | None = None + # Check rotation obstacles near the vehicle. + check_rot_obstacle: bool | None = None + # Use terrain cost for path penalty scoring. + use_cost: bool | None = None + + # Points higher than this above ground are classified as obstacles (m). + obstacle_height_threshold: float = 0.15 + # Ground height threshold for cost computation (m). + ground_height_threshold: float | None = None + # Upper cost height threshold (m). + cost_height_thre1: float | None = None + # Lower cost height threshold (m). + cost_height_thre2: float | None = None + # Height-band filter: maximum z relative to robot (m). + max_relative_z: float | None = None + # Height-band filter: minimum z relative to robot (m). + min_relative_z: float | None = None + # Maximum range for obstacle consideration (m). + adjacent_range: float | None = None + # Voxel size for laser cloud downsampling (m). + laser_voxel_size: float | None = None + # Voxel size for terrain cloud downsampling (m). + terrain_voxel_size: float | None = None + + # --- Path evaluation --- + + # Direction weight for path scoring. + dir_weight: float | None = None + # Direction threshold for candidate filtering (deg). + dir_thre: float | None = None + # Use direction relative to vehicle instead of goal. + dir_to_vehicle: bool | None = None + # Path scale factor (shrinks candidate paths). + path_scale: float | None = None + # Minimum path scale before giving up. + min_path_scale: float | None = None + # Path scale decrement step. + path_scale_step: float | None = None + # Scale path range by joystick speed. + path_scale_by_speed: bool | None = None + # Minimum path range before giving up (m). + min_path_range: float | None = None + # Path range decrement step (m). + path_range_step: float | None = None + # Scale path range by joystick speed. + path_range_by_speed: bool | None = None + # Crop paths by goal distance. + path_crop_by_goal: bool | None = None + # Min blocked points to mark a path as obstructed. + point_per_path_thre: int | None = None + # Threshold for slow-down by path count. + slow_path_num_thre: int | None = None + # Threshold for slow-down by group count. + slow_group_num_thre: int | None = None + # Omni-directional goal distance threshold (m). + omni_dir_goal_thre: float | None = None + + # Minimum clearance around goal position for path planning (m). + goal_clearance: float = 0.5 + # Distance from goal at which the local planner considers it reached (m). + goal_reached_threshold: float | None = None + # When goal is behind the robot and within this range, robot stops (m). + goal_behind_range: float | None = None + # Goal yaw tolerance (rad). + goal_yaw_threshold: float | None = None + # Freeze angle (deg): if goal direction exceeds this, robot freezes for + # freezeTime. Set to 180 for omni-dir robots to disable freeze. + freeze_ang: float | None = None + # Freeze duration (s). + freeze_time: float | None = None + # Allow driving in reverse. False = robot must turn to face goal first. + two_way_drive: bool | None = None + # Goal x-coordinate in local frame (m). None = omit from CLI (binary default). + goal_x: float | None = None + # Goal y-coordinate in local frame (m). None = omit from CLI (binary default). + goal_y: float | None = None + + # --- Joystick --- + + # Delay before speed command overrides joystick (s). + joy_to_speed_delay: float | None = None + # Delay before obstacle check override from autonomy (s). + joy_to_check_obstacle_delay: float | None = None + + +class LocalPlanner(NativeModule): + """Local path planner with obstacle avoidance. + + Evaluates pre-computed path sets against current obstacle map to select + the best collision-free path toward the goal. Supports smart joystick, + waypoint, and manual control modes. + + Ports: + registered_scan (In[PointCloud2]): Obstacle point cloud. + odometry (In[Odometry]): Vehicle state estimation. + terrain_map (In[PointCloud2]): Terrain cost map from TerrainAnalysis + (intensity = obstacle height). Used when useTerrainAnalysis is enabled. + joy_cmd (In[Twist]): Joystick/teleop velocity commands. + way_point (In[PointStamped]): Navigation goal waypoint. + path (Out[NavPath]): Selected local path for path follower. + """ + + config: LocalPlannerConfig + + # --- Inputs --- + registered_scan: In[PointCloud2] + odometry: In[Odometry] + terrain_map: In[PointCloud2] + joy_cmd: In[Twist] + way_point: In[PointStamped] + goal_pose: In[PoseStamped] + speed: In[Float32] + navigation_boundary: In[PolygonStamped] + added_obstacles: In[PointCloud2] + check_obstacle: In[Bool] + cancel_goal: In[Bool] + + # --- Outputs --- + path: Out[NavPath] + obstacle_cloud: Out[PointCloud2] + free_paths: Out[PointCloud2] + slow_down: Out[Int8] + goal_reached: Out[Bool] diff --git a/dimos/navigation/smart_nav/modules/local_planner/test_local_planner.py b/dimos/navigation/smart_nav/modules/local_planner/test_local_planner.py new file mode 100644 index 0000000000..741f22a4a1 --- /dev/null +++ b/dimos/navigation/smart_nav/modules/local_planner/test_local_planner.py @@ -0,0 +1,102 @@ +# 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. + +"""Tests for LocalPlanner NativeModule wrapper.""" + +from pathlib import Path + +import pytest + +from dimos.navigation.smart_nav.modules.local_planner.local_planner import ( + LocalPlanner, + LocalPlannerConfig, +) + + +class TestLocalPlannerConfig: + """Test LocalPlanner configuration.""" + + def test_default_config(self): + config = LocalPlannerConfig() + assert config.max_speed == 2.0 + assert config.autonomy_speed == 1.0 + assert config.obstacle_height_threshold == 0.15 + assert config.goal_clearance == 0.5 + + def test_cli_args_generation(self): + config = LocalPlannerConfig( + max_speed=1.5, + paths_dir="/custom/paths", + ) + args = config.to_cli_args() + # max_speed is remapped to the C++ binary's camelCase name + assert "--maxSpeed" in args + assert "1.5" in args + assert "--paths_dir" in args + assert "/custom/paths" in args + + +class TestLocalPlannerModule: + """Test LocalPlanner module declaration.""" + + def test_ports_declared(self): + from typing import get_origin, get_type_hints + + from dimos.core.stream import In, Out + + hints = get_type_hints(LocalPlanner) + in_ports = {k for k, v in hints.items() if get_origin(v) is In} + out_ports = {k for k, v in hints.items() if get_origin(v) is Out} + + assert "registered_scan" in in_ports + assert "odometry" in in_ports + assert "way_point" in in_ports + assert "path" in out_ports + + +@pytest.mark.skipif( + not Path(__file__).resolve().parent.joinpath("result", "bin").exists(), + reason="Native binary not built (run nix build first)", +) +class TestPathResolution: + """Verify native module paths resolve to real filesystem locations.""" + + def _make(self): + return LocalPlanner() + + def test_cwd_resolves_to_existing_directory(self): + m = self._make() + try: + assert Path(m.config.cwd).exists(), f"cwd does not exist: {m.config.cwd}" + assert Path(m.config.cwd).is_dir() + finally: + m.stop() + + def test_executable_exists(self): + m = self._make() + try: + exe = Path(m.config.executable) + assert exe.exists(), f"Binary not found: {exe}. Run nix build first." + finally: + m.stop() + + def test_data_files_exist(self): + """Local planner needs path data files (pulled from LFS).""" + from dimos.utils.data import get_data + + paths_dir = get_data("smart_nav_paths") + assert paths_dir.exists(), f"paths_dir not found: {paths_dir}" + assert (paths_dir / "startPaths.ply").exists() + assert (paths_dir / "pathList.ply").exists() + assert (paths_dir / "paths.ply").exists() diff --git a/dimos/navigation/smart_nav/modules/movement_manager/movement_manager.py b/dimos/navigation/smart_nav/modules/movement_manager/movement_manager.py new file mode 100644 index 0000000000..9b292bc2d5 --- /dev/null +++ b/dimos/navigation/smart_nav/modules/movement_manager/movement_manager.py @@ -0,0 +1,223 @@ +# 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. + +"""MovementManager: click-to-goal + teleop/nav velocity mux in one module. + +Combines the responsibilities of ClickToGoal and CmdVelMux: +- Validates and forwards clicked_point → goal (+ way_point) +- Multiplexes nav_cmd_vel and tele_cmd_vel → cmd_vel +- When teleop starts: cancels the active nav goal and publishes stop_movement +- When teleop ends: nav resumes but stays idle until a new click + +This avoids the round-trip where CmdVelMux had to publish stop_movement +over a stream to ClickToGoal, which then had to publish a NaN goal to the +planner. Now goal cancellation is immediate and internal. +""" + +from __future__ import annotations + +import math +import threading +import time +from typing import Any +import weakref + +from dimos_lcm.std_msgs import Bool # type: ignore[import-untyped] + +from dimos.constants import DEFAULT_THREAD_JOIN_TIMEOUT +from dimos.core.core import rpc +from dimos.core.module import Module, ModuleConfig +from dimos.core.stream import In, Out +from dimos.msgs.geometry_msgs.PointStamped import PointStamped +from dimos.msgs.geometry_msgs.Twist import Twist +from dimos.navigation.smart_nav.frames import FRAME_BODY, FRAME_MAP, FRAME_ODOM +from dimos.utils.logging_config import setup_logger + +logger = setup_logger() + + +class MovementManagerConfig(ModuleConfig): + """Config for MovementManager.""" + + # Seconds after the last teleop message before nav_cmd_vel is re-enabled. + tele_cooldown_sec: float = 1.0 + + +class MovementManager(Module): + """Click-to-goal relay + teleop/nav velocity mux. + + Ports: + clicked_point (In[PointStamped]): Click from viewer → publishes goal. + nav_cmd_vel (In[Twist]): Velocity from the autonomous planner. + tele_cmd_vel (In[Twist]): Velocity from keyboard/joystick teleop. + goal (Out[PointStamped]): Navigation goal for the global planner. + way_point (Out[PointStamped]): Immediate waypoint (disconnected in smart_nav). + cmd_vel (Out[Twist]): Merged velocity — teleop wins when active. + stop_movement (Out[Bool]): Fired once when teleop takes over, for + modules that listen directly (e.g. FarPlanner C++ binary). + + Robot pose is obtained via the TF tree (``map → body``) rather than + an Odometry stream. + """ + + config: MovementManagerConfig + + clicked_point: In[PointStamped] + nav_cmd_vel: In[Twist] + tele_cmd_vel: In[Twist] + + goal: Out[PointStamped] + way_point: Out[PointStamped] + cmd_vel: Out[Twist] + stop_movement: Out[Bool] + + def __init__(self, **kwargs: Any) -> None: + super().__init__(**kwargs) + self._lock = threading.Lock() + self._teleop_active = False + self._timer: threading.Timer | None = None + self._timer_gen = 0 + self._robot_x = 0.0 + self._robot_y = 0.0 + self._robot_z = 0.0 + + def __getstate__(self) -> dict[str, Any]: + state: dict[str, Any] = super().__getstate__() # type: ignore[no-untyped-call] + for k in ("_lock", "_timer"): + state.pop(k, None) + return state + + def __setstate__(self, state: dict[str, Any]) -> None: + super().__setstate__(state) + self._lock = threading.Lock() + self._timer = None + self._timer_gen = 0 + + def __del__(self) -> None: + timer = getattr(self, "_timer", None) + if timer is not None: + timer.cancel() + timer.join(timeout=DEFAULT_THREAD_JOIN_TIMEOUT) + + @rpc + def start(self) -> None: + super().start() + self.clicked_point.subscribe(self._on_click) + self.nav_cmd_vel.subscribe(self._on_nav) + self.tele_cmd_vel.subscribe(self._on_teleop) + + @rpc + def stop(self) -> None: + with self._lock: + self._timer_gen += 1 + if self._timer is not None: + self._timer.cancel() + self._timer = None + super().stop() + + # ── TF pose query ──────────────────────────────────────────────────── + + # Ordered (parent, child) TF lookups — first match wins. + _TF_POSE_QUERIES: list[tuple[str, str]] = [ + (FRAME_MAP, FRAME_BODY), + (FRAME_ODOM, FRAME_BODY), + (FRAME_MAP, "sensor"), + ] + + def _query_pose(self) -> tuple[float, float, float]: + """Return (x, y, z) from the TF tree, falling back to cached values.""" + for parent, child in self._TF_POSE_QUERIES: + tf = self.tf.get(parent, child) + if tf is not None: + with self._lock: + self._robot_x = float(tf.translation.x) + self._robot_y = float(tf.translation.y) + self._robot_z = float(tf.translation.z) + break + with self._lock: + return self._robot_x, self._robot_y, self._robot_z + + # ── Click-to-goal ───────────────────────────────────────────────────── + + def _on_click(self, msg: PointStamped) -> None: + if not all(math.isfinite(v) for v in (msg.x, msg.y, msg.z)): + logger.warning("Ignored invalid click", x=msg.x, y=msg.y, z=msg.z) + return + if abs(msg.x) > 500 or abs(msg.y) > 500 or abs(msg.z) > 50: + logger.warning("Ignored out-of-range click", x=msg.x, y=msg.y, z=msg.z) + return + + logger.info("Goal", x=round(msg.x, 1), y=round(msg.y, 1), z=round(msg.z, 1)) + self.way_point.publish(msg) + self.goal.publish(msg) + + def _cancel_goal(self) -> None: + """Publish NaN goal so planners clear their active goal.""" + self.stop_movement.publish(Bool(data=True)) + # NOTE: this NaN goal is more of a saftey fallback. + # It can be REALLY bad if a robot is supposed to stop moving but wont + # we should probably think a more robust/strict requirement on planners + cancel = PointStamped( + ts=time.time(), frame_id=FRAME_MAP, x=float("nan"), y=float("nan"), z=float("nan") + ) + self.way_point.publish(cancel) + self.goal.publish(cancel) + logger.info("Navigation cancelled — waiting for new goal") + + # ── Velocity mux ───────────────────────────────────────────────────── + + def _on_nav(self, msg: Twist) -> None: + with self._lock: + if self._teleop_active: + return + self.cmd_vel.publish(msg) + + def _on_teleop(self, msg: Twist) -> None: + was_active: bool + old_timer: threading.Timer | None = None + with self._lock: + was_active = self._teleop_active + self._teleop_active = True + if self._timer is not None: + self._timer.cancel() + old_timer = self._timer + self._timer_gen += 1 + my_gen = self._timer_gen + self_ref = weakref.ref(self) + + def _end() -> None: + obj = self_ref() + if obj is not None: + obj._end_teleop(my_gen) + + self._timer = threading.Timer(self.config.tele_cooldown_sec, _end) + self._timer.daemon = True + self._timer.start() + + if old_timer is not None: + old_timer.join(timeout=DEFAULT_THREAD_JOIN_TIMEOUT) + + if not was_active: + # Cancel the nav goal directly and notify external listeners. + self._cancel_goal() + logger.info("Teleop active") + + self.cmd_vel.publish(msg) + + def _end_teleop(self, expected_gen: int) -> None: + with self._lock: + if expected_gen != self._timer_gen: + return + self._teleop_active = False + self._timer = None diff --git a/dimos/navigation/smart_nav/modules/movement_manager/test_movement_manager.py b/dimos/navigation/smart_nav/modules/movement_manager/test_movement_manager.py new file mode 100644 index 0000000000..11dcf302c6 --- /dev/null +++ b/dimos/navigation/smart_nav/modules/movement_manager/test_movement_manager.py @@ -0,0 +1,193 @@ +# 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. + +"""Tests for MovementManager: click-to-goal + teleop/nav velocity mux.""" + +from __future__ import annotations + +import math +import threading +import time +from typing import Any, cast +from unittest.mock import MagicMock, patch + +from dimos.constants import DEFAULT_THREAD_JOIN_TIMEOUT +from dimos.msgs.geometry_msgs.PointStamped import PointStamped +from dimos.msgs.geometry_msgs.Twist import Twist +from dimos.msgs.geometry_msgs.Vector3 import Vector3 +from dimos.navigation.smart_nav.modules.movement_manager.movement_manager import ( + MovementManager, + MovementManagerConfig, +) + + +def _make_mgr(cooldown: float = 0.1) -> Any: + """Build a MovementManager with mocked output streams.""" + with patch.object(MovementManager, "__init__", lambda self: None): + mgr = cast("Any", MovementManager.__new__(MovementManager)) + mgr.config = MovementManagerConfig(tele_cooldown_sec=cooldown) + mgr._teleop_active = False + mgr._lock = threading.Lock() + mgr._timer = None + mgr._timer_gen = 0 + mgr._robot_x = 0.0 + mgr._robot_y = 0.0 + mgr._robot_z = 0.0 + mgr.cmd_vel = MagicMock() + mgr.stop_movement = MagicMock() + mgr.goal = MagicMock() + mgr.way_point = MagicMock() + return mgr + + +def _twist(lx: float = 0.0, az: float = 0.0) -> Twist: + return Twist(linear=Vector3(lx, 0, 0), angular=Vector3(0, 0, az)) + + +def _click(x: float = 1.0, y: float = 2.0, z: float = 0.0) -> PointStamped: + return PointStamped(ts=time.time(), frame_id="map", x=x, y=y, z=z) + + +# ── Nav passthrough (ported from CmdVelMux tests) ────────────────────────── + + +class TestNavPassthrough: + def test_nav_passes_through_when_no_teleop(self) -> None: + mgr = _make_mgr() + mgr._on_nav(_twist(lx=0.5)) + mgr.cmd_vel.publish.assert_called_once() + mgr.stop_movement.publish.assert_not_called() + + def test_nav_suppressed_while_teleop_active(self) -> None: + mgr = _make_mgr(cooldown=10.0) + mgr._on_teleop(_twist(lx=0.3)) + mgr.cmd_vel.publish.reset_mock() + + mgr._on_nav(_twist(lx=0.9)) + mgr.cmd_vel.publish.assert_not_called() + + def test_nav_resumes_after_cooldown(self) -> None: + mgr = _make_mgr(cooldown=0.05) + mgr._on_teleop(_twist(lx=0.3)) + time.sleep(0.15) + mgr.cmd_vel.publish.reset_mock() + + mgr._on_nav(_twist(lx=0.9)) + mgr.cmd_vel.publish.assert_called_once() + + +# ── Teleop mux behaviour ─────────────────────────────────────────────────── + + +class TestTeleop: + def test_first_teleop_publishes_stop_movement(self) -> None: + mgr = _make_mgr() + mgr._on_teleop(_twist(lx=0.3)) + mgr.stop_movement.publish.assert_called_once() + + def test_subsequent_teleop_does_not_republish_stop_movement(self) -> None: + mgr = _make_mgr(cooldown=10.0) + mgr._on_teleop(_twist(lx=0.3)) + mgr._on_teleop(_twist(lx=0.4)) + mgr._on_teleop(_twist(lx=0.5)) + assert mgr.stop_movement.publish.call_count == 1 + + def test_teleop_publishes_to_cmd_vel(self) -> None: + mgr = _make_mgr() + mgr._on_teleop(_twist(lx=0.5, az=0.1)) + mgr.cmd_vel.publish.assert_called_once() + + def test_teleop_forwards_msg_unchanged(self) -> None: + mgr = _make_mgr() + msg = _twist(lx=0.7) + mgr._on_teleop(msg) + assert mgr.cmd_vel.publish.call_args[0][0] is msg + + def test_first_teleop_cancels_goal(self) -> None: + """MovementManager publishes NaN goal to cancel active navigation.""" + mgr = _make_mgr() + mgr._on_teleop(_twist(lx=0.3)) + # goal and way_point should both receive NaN cancellation + assert mgr.goal.publish.call_count == 1 + cancel_msg = mgr.goal.publish.call_args[0][0] + assert math.isnan(cancel_msg.x) + assert math.isnan(cancel_msg.y) + assert math.isnan(cancel_msg.z) + + +# ── End-teleop timer ─────────────────────────────────────────────────────── + + +class TestEndTeleop: + def test_end_teleop_clears_flag(self) -> None: + mgr = _make_mgr(cooldown=10.0) + mgr._on_teleop(_twist(lx=0.3)) + timer = mgr._timer + mgr._end_teleop(mgr._timer_gen) + assert not mgr._teleop_active + assert mgr._timer is None + timer.cancel() + timer.join(timeout=DEFAULT_THREAD_JOIN_TIMEOUT) + + def test_end_teleop_noop_when_superseded(self) -> None: + mgr = _make_mgr(cooldown=10.0) + mgr._on_teleop(_twist(lx=0.3)) + stale_gen = mgr._timer_gen + mgr._on_teleop(_twist(lx=0.4)) + current_timer = mgr._timer + + mgr._end_teleop(stale_gen) + assert mgr._teleop_active + assert mgr._timer is current_timer + + +# ── Click-to-goal ────────────────────────────────────────────────────────── + + +class TestClickToGoal: + def test_valid_click_publishes_goal_and_waypoint(self) -> None: + mgr = _make_mgr() + click = _click(x=5.0, y=3.0, z=0.1) + mgr._on_click(click) + mgr.goal.publish.assert_called_once_with(click) + mgr.way_point.publish.assert_called_once_with(click) + + def test_nan_click_rejected(self) -> None: + mgr = _make_mgr() + mgr._on_click(_click(x=float("nan"), y=1.0, z=0.0)) + mgr.goal.publish.assert_not_called() + + def test_inf_click_rejected(self) -> None: + mgr = _make_mgr() + mgr._on_click(_click(x=float("inf"), y=1.0, z=0.0)) + mgr.goal.publish.assert_not_called() + + def test_out_of_range_click_rejected(self) -> None: + mgr = _make_mgr() + mgr._on_click(_click(x=600.0, y=1.0, z=0.0)) + mgr.goal.publish.assert_not_called() + + def test_boundary_click_accepted(self) -> None: + mgr = _make_mgr() + mgr._on_click(_click(x=500.0, y=500.0, z=50.0)) + mgr.goal.publish.assert_called_once() + + +# ── Config defaults ──────────────────────────────────────────────────────── + + +class TestConfigDefaults: + def test_cooldown_default(self) -> None: + config = MovementManagerConfig() + assert config.tele_cooldown_sec == 1.0 diff --git a/dimos/navigation/smart_nav/modules/path_follower/path_follower.py b/dimos/navigation/smart_nav/modules/path_follower/path_follower.py new file mode 100644 index 0000000000..59d1a294ab --- /dev/null +++ b/dimos/navigation/smart_nav/modules/path_follower/path_follower.py @@ -0,0 +1,111 @@ +# 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. + +"""PathFollower NativeModule: C++ pure pursuit path tracking controller. + +Ported from pathFollower.cpp. Follows a given path using pure pursuit +with PID yaw control, outputting velocity commands. +""" + +from __future__ import annotations + +from pathlib import Path + +from dimos.core.native_module import NativeModule, NativeModuleConfig +from dimos.core.stream import In, Out +from dimos.msgs.geometry_msgs.Twist import Twist +from dimos.msgs.nav_msgs.Odometry import Odometry +from dimos.msgs.nav_msgs.Path import Path as NavPath + + +class PathFollowerConfig(NativeModuleConfig): + """Config for the path follower native module. + + Fields with ``None`` default are omitted from the CLI. + """ + + cwd: str | None = str(Path(__file__).resolve().parent) + executable: str = "result/bin/path_follower" + build_command: str | None = ( + "nix build github:dimensionalOS/dimos-module-path-follower/v0.1.1 --no-write-lock-file" + ) + + # C++ binary uses camelCase CLI args. + cli_name_override: dict[str, str] = { + "look_ahead_distance": "lookAheadDis", + "max_speed": "maxSpeed", + "max_yaw_rate": "maxYawRate", + "goal_tolerance": "goalTolerance", + "vehicle_config": "vehicleConfig", + "autonomy_mode": "autonomyMode", + "autonomy_speed": "autonomySpeed", + "max_acceleration": "maxAccel", + "slow_down_distance_threshold": "slowDwnDisThre", + "omni_dir_goal_threshold": "omniDirGoalThre", + "omni_dir_diff_threshold": "omniDirDiffThre", + "two_way_drive": "twoWayDrive", + } + + # Look-ahead distance for the pure pursuit controller (m). + look_ahead_distance: float = 0.5 + # Maximum velocity the follower will command (m/s). + max_speed: float = 2.0 + # Maximum yaw rate for turning (deg/s). The C++ binary converts to + # rad/s internally (``maxYawRate * PI / 180``). Reference omniDir.yaml + # uses 80.0; default in C++ is 45.0. + max_yaw_rate: float = 80.0 + + # Distance from goal at which the follower considers it reached (m). + goal_tolerance: float = 0.3 + + # Vehicle kinematics model: "omniDir" for mecanum, "standard" for ackermann. + vehicle_config: str = "omniDir" + # Omni-directional mode: distance threshold (m) below which the robot strafes + # instead of turning. Set to 0 to disable omni mode (robot turns to face heading). + omni_dir_goal_threshold: float | None = None + # Omni-directional heading tolerance (rad). + omni_dir_diff_threshold: float | None = None + + # Enable fully autonomous path-following mode. + autonomy_mode: bool | None = None + # Velocity cap during autonomous navigation (m/s). + autonomy_speed: float | None = None + + # Allow driving in reverse (two-way drive). Set to False to force the + # robot to turn and face the goal before driving forward. + two_way_drive: bool | None = None + + # Maximum linear acceleration (m/s²). + max_acceleration: float | None = None + # Distance threshold below which the follower begins slowing down (m). + slow_down_distance_threshold: float | None = None + + +class PathFollower(NativeModule): + """Pure pursuit path follower with PID yaw control. + + Takes a path from the local planner and the current vehicle state, + then computes velocity commands to follow the path. + + Ports: + path (In[NavPath]): Local path to follow. + odometry (In[Odometry]): Vehicle state estimation. + cmd_vel (Out[Twist]): Velocity commands for the vehicle. + """ + + config: PathFollowerConfig + + path: In[NavPath] + odometry: In[Odometry] + cmd_vel: Out[Twist] diff --git a/dimos/navigation/smart_nav/modules/path_follower/test_path_follower.py b/dimos/navigation/smart_nav/modules/path_follower/test_path_follower.py new file mode 100644 index 0000000000..fba2f82933 --- /dev/null +++ b/dimos/navigation/smart_nav/modules/path_follower/test_path_follower.py @@ -0,0 +1,89 @@ +# 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. + +"""Tests for PathFollower NativeModule wrapper.""" + +from pathlib import Path + +import pytest + +from dimos.navigation.smart_nav.modules.path_follower.path_follower import ( + PathFollower, + PathFollowerConfig, +) + + +class TestPathFollowerConfig: + """Test PathFollower configuration.""" + + def test_default_config(self): + config = PathFollowerConfig() + assert config.look_ahead_distance == 0.5 + assert config.max_speed == 2.0 + assert config.max_yaw_rate == 80.0 + assert config.goal_tolerance == 0.3 + + def test_cli_args_generation(self): + config = PathFollowerConfig( + look_ahead_distance=1.0, + max_speed=1.0, + ) + args = config.to_cli_args() + # Field names are remapped to the C++ binary's camelCase names. + assert "--lookAheadDis" in args + assert "--maxSpeed" in args + + +class TestPathFollowerModule: + """Test PathFollower module declaration.""" + + def test_ports_declared(self): + from typing import get_origin, get_type_hints + + from dimos.core.stream import In, Out + + hints = get_type_hints(PathFollower) + in_ports = {k for k, v in hints.items() if get_origin(v) is In} + out_ports = {k for k, v in hints.items() if get_origin(v) is Out} + + assert "path" in in_ports + assert "odometry" in in_ports + assert "cmd_vel" in out_ports + + +@pytest.mark.skipif( + not Path(__file__).resolve().parent.joinpath("result", "bin").exists(), + reason="Native binary not built (run nix build first)", +) +class TestPathResolution: + """Verify native module paths resolve to real filesystem locations.""" + + def _make(self): + return PathFollower() + + def test_cwd_resolves_to_existing_directory(self): + m = self._make() + try: + assert Path(m.config.cwd).exists(), f"cwd does not exist: {m.config.cwd}" + assert Path(m.config.cwd).is_dir() + finally: + m.stop() + + def test_executable_exists(self): + m = self._make() + try: + exe = Path(m.config.executable) + assert exe.exists(), f"Binary not found: {exe}. Run nix build first." + finally: + m.stop() diff --git a/dimos/navigation/smart_nav/modules/pgo/pgo.py b/dimos/navigation/smart_nav/modules/pgo/pgo.py new file mode 100644 index 0000000000..568e0f824d --- /dev/null +++ b/dimos/navigation/smart_nav/modules/pgo/pgo.py @@ -0,0 +1,545 @@ +# 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. + +"""PGO Module: Python pose graph optimization with loop closure. + +Ported from FASTLIO2_ROS2/pgo. Detects keyframes, performs loop closure +via ICP + KD-tree search, and optimizes the pose graph with GTSAM iSAM2. +Publishes corrected odometry and accumulated global map. +""" + +from __future__ import annotations + +from dataclasses import dataclass +import threading +import time +from typing import Any + +import gtsam # type: ignore[import-untyped] +import numpy as np +from scipy.spatial import KDTree +from scipy.spatial.transform import Rotation + +from dimos.core.core import rpc +from dimos.core.module import Module, ModuleConfig +from dimos.core.stream import In, Out +from dimos.msgs.geometry_msgs.Quaternion import Quaternion +from dimos.msgs.geometry_msgs.Transform import Transform +from dimos.msgs.geometry_msgs.Vector3 import Vector3 +from dimos.msgs.nav_msgs.Odometry import Odometry +from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 +from dimos.navigation.smart_nav.frames import FRAME_BODY, FRAME_MAP, FRAME_ODOM +from dimos.utils.logging_config import setup_logger + +logger = setup_logger() + + +class PGOConfig(ModuleConfig): + """Config for the PGO Python module.""" + + # Keyframe detection + key_pose_delta_trans: float = 0.5 + key_pose_delta_deg: float = 10.0 + + # Loop closure + loop_search_radius: float = 15.0 + loop_time_thresh: float = 60.0 + loop_score_thresh: float = 0.3 + loop_submap_half_range: int = 5 + submap_resolution: float = 0.1 + min_loop_detect_duration: float = 5.0 + + # Input mode + unregister_input: bool = True # Transform world-frame scans to body-frame using odom + + # Global map + global_map_publish_rate: float = 0.5 + global_map_voxel_size: float = 0.15 + + # ICP + max_icp_iterations: int = 50 + max_icp_correspondence_dist: float = 10.0 + + +@dataclass +class _KeyPose: + r_local: np.ndarray # 3x3 rotation in local/odom frame + t_local: np.ndarray # 3-vec translation in local/odom frame + r_global: np.ndarray # 3x3 corrected rotation + t_global: np.ndarray # 3-vec corrected translation + timestamp: float + body_cloud: np.ndarray # Nx3 points in body frame + + +def _icp( + source: np.ndarray, + target: np.ndarray, + max_iter: int = 50, + max_dist: float = 10.0, + tol: float = 1e-6, +) -> tuple[np.ndarray, float]: + """Simple point-to-point ICP. Returns (4x4 transform, fitness score).""" + if len(source) == 0 or len(target) == 0: + return np.eye(4), float("inf") + + tree = KDTree(target) + T = np.eye(4) + src = source.copy() + + for _ in range(max_iter): + dists, idxs = tree.query(src) + mask = np.asarray(dists < max_dist) + idxs = np.asarray(idxs) + if int(mask.sum()) < 10: + return T, float("inf") + + p = src[mask] + q = target[idxs[mask]] + + cp = p.mean(axis=0) + cq = q.mean(axis=0) + H = (p - cp).T @ (q - cq) + + U, _, Vt = np.linalg.svd(H) + R = Vt.T @ U.T + if np.linalg.det(R) < 0: + Vt[-1, :] *= -1 + R = Vt.T @ U.T + t = cq - R @ cp + + dT = np.eye(4) + dT[:3, :3] = R + dT[:3, 3] = t + T = dT @ T + src = (R @ src.T).T + t + + if np.linalg.norm(t) < tol: + break + + # Fitness: mean squared distance of inliers + dists_final, _ = tree.query(src) + mask_final = np.asarray(dists_final < max_dist) + dists_final = np.asarray(dists_final) + fitness = ( + float(np.mean(dists_final[mask_final] ** 2)) if int(mask_final.sum()) > 0 else float("inf") + ) + return T, fitness + + +def _voxel_downsample(pts: np.ndarray, voxel_size: float) -> np.ndarray: + """Voxel grid downsampling.""" + if len(pts) == 0 or voxel_size <= 0: + return pts + keys = np.floor(pts / voxel_size).astype(np.int32) + _, idx = np.unique(keys, axis=0, return_index=True) + return pts[idx] + + +class _SimplePGO: + """Python port of the C++ SimplePGO class.""" + + def __init__(self, config: PGOConfig) -> None: + self._cfg = config + self._key_poses: list[_KeyPose] = [] + self._history_pairs: list[tuple[int, int]] = [] + self._cache_pairs: list[dict[str, Any]] = [] + self._r_offset = np.eye(3) + self._t_offset = np.zeros(3) + + params = gtsam.ISAM2Params() + params.setRelinearizeThreshold(0.01) + params.relinearizeSkip = 1 + self._isam2 = gtsam.ISAM2(params) + self._graph = gtsam.NonlinearFactorGraph() + self._values = gtsam.Values() + + def is_key_pose(self, r: np.ndarray, t: np.ndarray) -> bool: + if not self._key_poses: + return True + last = self._key_poses[-1] + delta_trans = np.linalg.norm(t - last.t_local) + # Angular distance via quaternion dot product + q_cur = Rotation.from_matrix(r).as_quat() # [x,y,z,w] + q_last = Rotation.from_matrix(last.r_local).as_quat() + dot = abs(np.dot(q_cur, q_last)) + delta_deg = np.degrees(2.0 * np.arccos(min(dot, 1.0))) + return bool( + delta_trans > self._cfg.key_pose_delta_trans or delta_deg > self._cfg.key_pose_delta_deg + ) + + def add_key_pose( + self, r_local: np.ndarray, t_local: np.ndarray, timestamp: float, body_cloud: np.ndarray + ) -> bool: + if not self.is_key_pose(r_local, t_local): + return False + + idx = len(self._key_poses) + init_r = self._r_offset @ r_local + init_t = self._r_offset @ t_local + self._t_offset + + pose = gtsam.Pose3(gtsam.Rot3(init_r), gtsam.Point3(init_t)) + self._values.insert(idx, pose) + + if idx == 0: + noise = gtsam.noiseModel.Diagonal.Variances(np.full(6, 1e-12)) + self._graph.add(gtsam.PriorFactorPose3(idx, pose, noise)) + else: + last = self._key_poses[-1] + r_between = last.r_local.T @ r_local + t_between = last.r_local.T @ (t_local - last.t_local) + noise = gtsam.noiseModel.Diagonal.Variances( + np.array([1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-6]) + ) + self._graph.add( + gtsam.BetweenFactorPose3( + idx - 1, idx, gtsam.Pose3(gtsam.Rot3(r_between), gtsam.Point3(t_between)), noise + ) + ) + + kp = _KeyPose( + r_local=r_local.copy(), + t_local=t_local.copy(), + r_global=init_r.copy(), + t_global=init_t.copy(), + timestamp=timestamp, + body_cloud=_voxel_downsample(body_cloud, self._cfg.submap_resolution), + ) + self._key_poses.append(kp) + return True + + def _get_submap(self, idx: int, half_range: int) -> np.ndarray: + lo = max(0, idx - half_range) + hi = min(len(self._key_poses) - 1, idx + half_range) + parts = [] + for i in range(lo, hi + 1): + kp = self._key_poses[i] + world = (kp.r_global @ kp.body_cloud.T).T + kp.t_global + parts.append(world) + if not parts: + return np.empty((0, 3)) + cloud = np.vstack(parts) + return _voxel_downsample(cloud, self._cfg.submap_resolution) + + def search_for_loops(self) -> None: + if len(self._key_poses) < 10: + return + + # Rate limit + if self._history_pairs: + cur_time = self._key_poses[-1].timestamp + last_time = self._key_poses[self._history_pairs[-1][1]].timestamp + if cur_time - last_time < self._cfg.min_loop_detect_duration: + return + + cur_idx = len(self._key_poses) - 1 + cur_kp = self._key_poses[-1] + + # Build KD-tree of previous keyframe positions + positions = np.array([kp.t_global for kp in self._key_poses[:-1]]) + tree = KDTree(positions) + + idxs = tree.query_ball_point(cur_kp.t_global, self._cfg.loop_search_radius) + if not idxs: + return + + # Find candidate far enough in time + loop_idx = -1 + for i in idxs: + if abs(cur_kp.timestamp - self._key_poses[i].timestamp) > self._cfg.loop_time_thresh: + loop_idx = i + break + if loop_idx == -1: + return + + # ICP verification + target = self._get_submap(loop_idx, self._cfg.loop_submap_half_range) + source = self._get_submap(cur_idx, 0) + + transform, fitness = _icp( + source, + target, + max_iter=self._cfg.max_icp_iterations, + max_dist=self._cfg.max_icp_correspondence_dist, + ) + if fitness > self._cfg.loop_score_thresh: + return + + # Compute relative pose + R_icp = transform[:3, :3] + t_icp = transform[:3, 3] + r_refined = R_icp @ cur_kp.r_global + t_refined = R_icp @ cur_kp.t_global + t_icp + r_offset = self._key_poses[loop_idx].r_global.T @ r_refined + t_offset = self._key_poses[loop_idx].r_global.T @ ( + t_refined - self._key_poses[loop_idx].t_global + ) + + self._cache_pairs.append( + { + "source": cur_idx, + "target": loop_idx, + "r_offset": r_offset, + "t_offset": t_offset, + "score": fitness, + } + ) + self._history_pairs.append((loop_idx, cur_idx)) + logger.info( + "Loop closure detected", + source=cur_idx, + target=loop_idx, + score=round(fitness, 4), + ) + + def smooth_and_update(self) -> None: + has_loop = bool(self._cache_pairs) + + for pair in self._cache_pairs: + noise = gtsam.noiseModel.Diagonal.Variances(np.full(6, pair["score"])) + self._graph.add( + gtsam.BetweenFactorPose3( + pair["target"], + pair["source"], + gtsam.Pose3(gtsam.Rot3(pair["r_offset"]), gtsam.Point3(pair["t_offset"])), + noise, + ) + ) + self._cache_pairs.clear() + + self._isam2.update(self._graph, self._values) + self._isam2.update() + if has_loop: + for _ in range(4): + self._isam2.update() + self._graph = gtsam.NonlinearFactorGraph() + self._values = gtsam.Values() + + estimates = self._isam2.calculateBestEstimate() + for i in range(len(self._key_poses)): + pose = estimates.atPose3(i) + self._key_poses[i].r_global = pose.rotation().matrix() + self._key_poses[i].t_global = pose.translation() + + last = self._key_poses[-1] + self._r_offset = last.r_global @ last.r_local.T + self._t_offset = last.t_global - self._r_offset @ last.t_local + + def get_corrected_pose( + self, r_local: np.ndarray, t_local: np.ndarray + ) -> tuple[np.ndarray, np.ndarray]: + return self._r_offset @ r_local, self._r_offset @ t_local + self._t_offset + + def build_global_map(self, voxel_size: float) -> np.ndarray: + if not self._key_poses: + return np.empty((0, 3), dtype=np.float32) + parts = [] + for kp in self._key_poses: + world = (kp.r_global @ kp.body_cloud.T).T + kp.t_global + parts.append(world) + cloud = np.vstack(parts).astype(np.float32) + return _voxel_downsample(cloud, voxel_size) + + @property + def num_key_poses(self) -> int: + return len(self._key_poses) + + +class PGO(Module): + """Pose graph optimization with loop closure detection. + + Pure-Python implementation using GTSAM iSAM2 and scipy KDTree. + Detects keyframes from odometry, searches for loop closures, + optimizes with iSAM2, and publishes corrected poses + global map. + + Ports: + registered_scan (In[PointCloud2]): World-frame registered point cloud. + odometry (In[Odometry]): Current pose estimate from SLAM. + corrected_odometry (Out[Odometry]): Loop-closure-corrected pose. + global_map (Out[PointCloud2]): Accumulated keyframe map. + """ + + config: PGOConfig + + registered_scan: In[PointCloud2] + odometry: In[Odometry] + corrected_odometry: Out[Odometry] + global_map: Out[PointCloud2] + + def __init__(self, **kwargs: Any) -> None: + super().__init__(**kwargs) + self._lock = threading.Lock() + # Protects _pgo mutations (add_key_pose, search_for_loops, + # smooth_and_update, build_global_map) against concurrent access + # from _on_scan and _publish_loop threads. + self._pgo_lock = threading.Lock() + self._running = False + self._thread: threading.Thread | None = None + self._pgo: _SimplePGO | None = None + # Latest odom + self._latest_r = np.eye(3) + self._latest_t = np.zeros(3) + self._latest_time = 0.0 + self._has_odom = False + self._last_global_map_time = 0.0 + + def __getstate__(self) -> dict[str, Any]: + state: dict[str, Any] = super().__getstate__() # type: ignore[no-untyped-call] + for k in ("_lock", "_pgo_lock", "_thread", "_pgo"): + state.pop(k, None) + return state + + def __setstate__(self, state: dict[str, Any]) -> None: + super().__setstate__(state) + self._lock = threading.Lock() + self._pgo_lock = threading.Lock() + self._thread = None + self._pgo = None + + @rpc + def start(self) -> None: + self._pgo = _SimplePGO(self.config) + # Seed the TF tree with an identity map→odom so that consumers + # querying map→body get a result immediately (before any loop + # closure correction has been computed). + self._publish_map_odom_tf(np.eye(3), np.zeros(3), time.time()) + self.odometry.subscribe(self._on_odom) + self.registered_scan.subscribe(self._on_scan) + self._running = True + self._thread = threading.Thread(target=self._publish_loop, daemon=True) + self._thread.start() + logger.info("PGO module started (gtsam iSAM2)") + + @rpc + def stop(self) -> None: + self._running = False + if self._thread: + self._thread.join(timeout=3.0) + super().stop() + + def _on_odom(self, msg: Odometry) -> None: + q = [ + msg.pose.orientation.x, + msg.pose.orientation.y, + msg.pose.orientation.z, + msg.pose.orientation.w, + ] + r = Rotation.from_quat(q).as_matrix() + t = np.array([msg.pose.position.x, msg.pose.position.y, msg.pose.position.z]) + with self._lock: + self._latest_r = r + self._latest_t = t + self._latest_time = msg.ts if msg.ts else time.time() + self._has_odom = True + + def _on_scan(self, cloud: PointCloud2) -> None: + points, _ = cloud.as_numpy() + if len(points) == 0: + return + + with self._lock: + if not self._has_odom: + return + r_local = self._latest_r.copy() + t_local = self._latest_t.copy() + ts = self._latest_time + + pgo = self._pgo + assert pgo is not None + + # Body-frame points + if self.config.unregister_input: + # registered_scan is world-frame, transform back to body-frame + body_pts = (r_local.T @ (points[:, :3].T - t_local[:, None])).T + else: + body_pts = points[:, :3] + + with self._pgo_lock: + added = pgo.add_key_pose(r_local, t_local, ts, body_pts) + if added: + pgo.search_for_loops() + pgo.smooth_and_update() + logger.info( + "Keyframe added", + keyframe=pgo.num_key_poses, + position=f"({t_local[0]:.1f}, {t_local[1]:.1f}, {t_local[2]:.1f})", + ) + + # Publish corrected odometry + r_corr, t_corr = pgo.get_corrected_pose(r_local, t_local) + r_offset = pgo._r_offset.copy() + t_offset = pgo._t_offset.copy() + self._publish_corrected_odom(r_corr, t_corr, ts) + self._publish_map_odom_tf(r_offset, t_offset, ts) + + def _publish_corrected_odom(self, r: np.ndarray, t: np.ndarray, ts: float) -> None: + from dimos.msgs.geometry_msgs.Pose import Pose + + q = Rotation.from_matrix(r).as_quat() # [x,y,z,w] + + odom = Odometry( + ts=ts, + frame_id=FRAME_MAP, + child_frame_id=FRAME_BODY, + pose=Pose( + position=[float(t[0]), float(t[1]), float(t[2])], + orientation=[float(q[0]), float(q[1]), float(q[2]), float(q[3])], + ), + ) + self.corrected_odometry.publish(odom) + + def _publish_map_odom_tf(self, r_offset: np.ndarray, t_offset: np.ndarray, ts: float) -> None: + """Publish the ``map → odom`` correction transform to the TF tree. + + Composed with FastLio2's ``odom → body``, this gives any + consumer ``map → body`` via BFS chain lookup. + """ + q = Rotation.from_matrix(r_offset).as_quat() # [x,y,z,w] + self.tf.publish( + Transform( + frame_id=FRAME_MAP, + child_frame_id=FRAME_ODOM, + translation=Vector3(float(t_offset[0]), float(t_offset[1]), float(t_offset[2])), + rotation=Quaternion(float(q[0]), float(q[1]), float(q[2]), float(q[3])), + ts=ts, + ) + ) + + def _publish_loop(self) -> None: + """Periodically publish global map.""" + pgo = self._pgo + assert pgo is not None + rate = self.config.global_map_publish_rate + interval = 1.0 / rate if rate > 0 else 2.0 + + while self._running: + t0 = time.monotonic() + now = time.time() + + if now - self._last_global_map_time > interval and pgo.num_key_poses > 0: + with self._pgo_lock: + cloud_np = pgo.build_global_map(self.config.global_map_voxel_size) + if len(cloud_np) > 0: + self.global_map.publish( + PointCloud2.from_numpy(cloud_np, frame_id=FRAME_MAP, timestamp=now) + ) + logger.debug( + "Global map published", + points=len(cloud_np), + keyframes=pgo.num_key_poses, + ) + self._last_global_map_time = now + + elapsed = time.monotonic() - t0 + sleep_time = max(0.1, interval - elapsed) + time.sleep(sleep_time) diff --git a/dimos/navigation/smart_nav/modules/pgo/test_pgo.py b/dimos/navigation/smart_nav/modules/pgo/test_pgo.py new file mode 100644 index 0000000000..7e4d377dff --- /dev/null +++ b/dimos/navigation/smart_nav/modules/pgo/test_pgo.py @@ -0,0 +1,532 @@ +# 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. + +"""Tests for the PGO (Pose Graph Optimization) module. + +Exercises `_SimplePGO` (the algorithm core inside `pgo.py`) directly, covering: +- Keyframe detection +- Loop closure detection and correction +- Global map accumulation +- ICP matching +- Edge cases +""" + +from __future__ import annotations + +import math +import time + +import numpy as np +import pytest + +try: + import gtsam # noqa: F401 + from scipy.spatial.transform import Rotation + + from dimos.navigation.smart_nav.modules.pgo.pgo import PGOConfig, _icp, _SimplePGO + + _HAS_PGO_DEPS = True +except ImportError: + _HAS_PGO_DEPS = False + +pytestmark = pytest.mark.skipif(not _HAS_PGO_DEPS, reason="gtsam not installed") + +# ─── Helper functions ───────────────────────────────────────────────────────── + + +def make_rotation(yaw_deg: float) -> np.ndarray: + """Create a 3x3 rotation matrix from a yaw angle in degrees.""" + return Rotation.from_euler("z", yaw_deg, degrees=True).as_matrix() + + +def make_random_cloud( + center: np.ndarray, n_points: int = 200, spread: float = 1.0, seed: int | None = None +) -> np.ndarray: + """Create a random Nx3 point cloud around a center point.""" + rng = np.random.default_rng(seed) + return center + rng.normal(0, spread, (n_points, 3)) + + +def make_box_cloud( + center: np.ndarray, size: float = 2.0, n_points: int = 500, seed: int | None = None +) -> np.ndarray: + """Create a uniform-random box-shaped point cloud.""" + rng = np.random.default_rng(seed) + pts = rng.uniform(-size / 2, size / 2, (n_points, 3)) + return pts + center + + +def make_structured_cloud(center: np.ndarray, n_points: int = 500, seed: int = 42) -> np.ndarray: + """Create a structured point cloud (sphere surface) around a center.""" + rng = np.random.default_rng(seed) + phi = rng.uniform(0, 2 * np.pi, n_points) + theta = rng.uniform(0, np.pi, n_points) + r = 2.0 + x = r * np.sin(theta) * np.cos(phi) + center[0] + y = r * np.sin(theta) * np.sin(phi) + center[1] + z = r * np.cos(theta) + center[2] + return np.column_stack([x, y, z]) + + +# ─── Keyframe Detection Tests ──────────────────────────────────────────────── + + +class TestKeyframeDetection: + """Test keyframe selection logic.""" + + def test_first_pose_is_always_keyframe(self): + """The very first pose should always be accepted as a keyframe.""" + pgo = _SimplePGO(PGOConfig()) + cloud = make_random_cloud(np.zeros(3), seed=0) + result = pgo.add_key_pose(np.eye(3), np.zeros(3), 0.0, cloud) + assert result is True + assert len(pgo._key_poses) == 1 + + def test_small_movement_not_keyframe(self): + """A pose very close to the last keyframe should be rejected.""" + pgo = _SimplePGO(PGOConfig(key_pose_delta_trans=0.5, key_pose_delta_deg=10.0)) + cloud = make_random_cloud(np.zeros(3), seed=0) + + # Add first keyframe + pgo.add_key_pose(np.eye(3), np.zeros(3), 0.0, cloud) + pgo.smooth_and_update() + + # Try to add a pose with tiny movement (0.1m, 0 rotation) + result = pgo.add_key_pose(np.eye(3), np.array([0.1, 0.0, 0.0]), 1.0, cloud) + assert result is False + assert len(pgo._key_poses) == 1 + + def test_translation_threshold_triggers_keyframe(self): + """A pose exceeding the translation threshold should be a keyframe.""" + pgo = _SimplePGO(PGOConfig(key_pose_delta_trans=0.5, key_pose_delta_deg=10.0)) + cloud = make_random_cloud(np.zeros(3), seed=0) + + pgo.add_key_pose(np.eye(3), np.zeros(3), 0.0, cloud) + pgo.smooth_and_update() + + # Move 0.6m (exceeds 0.5m threshold) + result = pgo.add_key_pose(np.eye(3), np.array([0.6, 0.0, 0.0]), 1.0, cloud) + assert result is True + assert len(pgo._key_poses) == 2 + + def test_rotation_threshold_triggers_keyframe(self): + """A pose exceeding the rotation threshold should be a keyframe.""" + pgo = _SimplePGO(PGOConfig(key_pose_delta_trans=0.5, key_pose_delta_deg=10.0)) + cloud = make_random_cloud(np.zeros(3), seed=0) + + pgo.add_key_pose(np.eye(3), np.zeros(3), 0.0, cloud) + pgo.smooth_and_update() + + # Rotate 15 degrees (exceeds 10 degree threshold), no translation + r_rotated = make_rotation(15.0) + result = pgo.add_key_pose(r_rotated, np.zeros(3), 1.0, cloud) + assert result is True + assert len(pgo._key_poses) == 2 + + +# ─── Loop Closure Tests ────────────────────────────────────────────────────── + + +class TestLoopClosure: + """Test loop closure detection and correction.""" + + def _build_square_trajectory( + self, + pgo: _SimplePGO, + side_length: float = 20.0, + step: float = 0.4, + time_per_step: float = 1.0, + ) -> None: + """Drive a square trajectory, returning to near the start. + + Generates keyframes along a square path with consistent point clouds + at each pose. Calls search_for_loops() on each keyframe. + """ + t = 0.0 + positions = [] + + # Generate waypoints along a square + for direction in range(4): + yaw = direction * 90.0 + r = make_rotation(yaw) + dx = step * math.cos(math.radians(yaw)) + dy = step * math.sin(math.radians(yaw)) + n_steps = int(side_length / step) + + for _s in range(n_steps): + if not positions: + pos = np.array([0.0, 0.0, 0.0]) + else: + pos = positions[-1] + np.array([dx, dy, 0.0]) + positions.append(pos) + + cloud = make_structured_cloud(np.zeros(3), n_points=300, seed=int(t) % 1000) + added = pgo.add_key_pose(r, pos, t, cloud) + if added: + pgo.search_for_loops() + pgo.smooth_and_update() + t += time_per_step + + def test_loop_closure_detected_on_revisit(self): + """Square trajectory returning to start should detect a loop closure.""" + config = PGOConfig( + key_pose_delta_trans=0.4, + key_pose_delta_deg=10.0, + loop_search_radius=15.0, + loop_time_thresh=30.0, + loop_score_thresh=1.0, # Relaxed for structured clouds + loop_submap_half_range=3, + submap_resolution=0.2, + min_loop_detect_duration=0.0, + max_icp_iterations=30, + max_icp_correspondence_dist=15.0, + ) + pgo = _SimplePGO(config) + self._build_square_trajectory(pgo, side_length=20.0, step=0.4, time_per_step=1.0) + + # The robot should have gone around a 20m square and come back near start + # With ~200 keyframes and loop_time_thresh=30, the start keyframes + # are far enough in time. Loop closure should be detected. + assert len(pgo._history_pairs) > 0, ( + f"No loop closure detected with {len(pgo._key_poses)} keyframes. " + f"Start pos: {pgo._key_poses[0].t_global}, " + f"End pos: {pgo._key_poses[-1].t_global}" + ) + + def test_no_false_loop_closure(self): + """Straight-line trajectory should NOT detect any loop closures.""" + config = PGOConfig( + key_pose_delta_trans=0.4, + key_pose_delta_deg=10.0, + loop_search_radius=5.0, + loop_time_thresh=30.0, + loop_score_thresh=0.3, + min_loop_detect_duration=0.0, + ) + pgo = _SimplePGO(config) + + # Drive in a straight line — no revisiting + r = np.eye(3) + for i in range(100): + pos = np.array([i * 0.5, 0.0, 0.0]) + cloud = make_random_cloud(np.zeros(3), n_points=100, seed=i) + added = pgo.add_key_pose(r, pos, float(i), cloud) + if added: + pgo.search_for_loops() + pgo.smooth_and_update() + + assert len(pgo._history_pairs) == 0, "False loop closure on straight line" + + def test_loop_closure_respects_time_threshold(self): + """Nearby poses that are close in TIME should NOT trigger loop closure.""" + config = PGOConfig( + key_pose_delta_trans=0.3, + key_pose_delta_deg=10.0, + loop_search_radius=20.0, + loop_time_thresh=60.0, # Very high time threshold + loop_score_thresh=1.0, + min_loop_detect_duration=0.0, + ) + pgo = _SimplePGO(config) + + # Build a trajectory where robot goes and comes back quickly + # Time stamps are close together (1s apart), so loop_time_thresh=60 blocks detection + r = np.eye(3) + for i in range(20): + pos = np.array([i * 0.5, 0.0, 0.0]) + cloud = make_random_cloud(np.zeros(3), n_points=100, seed=i) + pgo.add_key_pose(r, pos, float(i), cloud) + pgo.smooth_and_update() + + # Come back to start + for i in range(20): + pos = np.array([(19 - i) * 0.5, 0.1, 0.0]) + cloud = make_random_cloud(np.zeros(3), n_points=100, seed=i + 100) + added = pgo.add_key_pose(r, pos, float(20 + i), cloud) + if added: + pgo.search_for_loops() + pgo.smooth_and_update() + + # Should NOT detect loop because total time ~40s < 60s threshold + assert len(pgo._history_pairs) == 0, "Loop closure triggered despite time threshold not met" + + def test_loop_closure_corrects_drift(self): + """After loop closure, corrected poses should be closer to ground truth.""" + config = PGOConfig( + key_pose_delta_trans=0.4, + key_pose_delta_deg=10.0, + loop_search_radius=15.0, + loop_time_thresh=20.0, + loop_score_thresh=2.0, # Very relaxed + loop_submap_half_range=3, + submap_resolution=0.2, + min_loop_detect_duration=0.0, + max_icp_iterations=30, + max_icp_correspondence_dist=20.0, + ) + pgo = _SimplePGO(config) + + # Build a circular trajectory with drift + n_keyframes = 80 + radius = 10.0 + drift_per_step = np.array([0.01, 0.005, 0.0]) # Accumulated drift + + ground_truth_positions = [] + for i in range(n_keyframes): + angle = 2 * math.pi * i / n_keyframes + gt_x = radius * math.cos(angle) + gt_y = radius * math.sin(angle) + ground_truth_positions.append(np.array([gt_x, gt_y, 0.0])) + + # Add drift to odometry + drift = drift_per_step * i + drifted_pos = np.array([gt_x, gt_y, 0.0]) + drift + yaw = angle + math.pi / 2 # Tangent direction + r = Rotation.from_euler("z", yaw).as_matrix() + + cloud = make_structured_cloud( + np.zeros(3), n_points=200, seed=i % 50 + ) # Reuse clouds for loop match + t_sec = float(i) * 1.0 # 1 second per step + added = pgo.add_key_pose(r, drifted_pos, t_sec, cloud) + if added: + pgo.search_for_loops() + pgo.smooth_and_update() + + # Compute drift at end (before any correction) + start_pos = pgo._key_poses[0].t_global + end_pos = pgo._key_poses[-1].t_global + gt_start = ground_truth_positions[0] + gt_end = ground_truth_positions[-1] + + # The positions should be reasonably close to ground truth + # (exact correction depends on ICP quality, but optimization should help) + # At minimum, the system should have run without crashing + assert len(pgo._key_poses) > 0 + assert len(pgo._key_poses) >= 10 + + # If loop closure was detected, check that it improved things + if len(pgo._history_pairs) > 0: + # The start and end should be closer together after optimization + # (they're near the same ground-truth position on a circle) + dist_start_end = np.linalg.norm(end_pos - start_pos) + gt_dist = np.linalg.norm(gt_end - gt_start) + # After loop closure correction, distance should be reasonable + # (ICP on synthetic data can only do so much, relax threshold) + assert dist_start_end < 10.0, ( + f"After loop closure, start-end distance {dist_start_end:.2f}m " + f"is too large (gt: {gt_dist:.2f}m)" + ) + + +# ─── Global Map Tests ──────────────────────────────────────────────────────── + + +class TestGlobalMap: + """Test global map accumulation and publishing.""" + + def test_global_map_accumulates_keyframes(self): + """Global map should contain points from all keyframes.""" + pgo = _SimplePGO( + PGOConfig( + key_pose_delta_trans=0.3, + global_map_voxel_size=0.0, # No downsampling + ) + ) + + n_keyframes = 5 + pts_per_frame = 50 + for i in range(n_keyframes): + pos = np.array([i * 1.0, 0.0, 0.0]) + cloud = make_random_cloud(np.zeros(3), n_points=pts_per_frame, seed=i) + pgo.add_key_pose(np.eye(3), pos, float(i), cloud) + pgo.smooth_and_update() + + assert len(pgo._key_poses) == n_keyframes + + global_map = pgo.build_global_map(voxel_size=0.0) + # Should have points from all keyframes + assert len(global_map) == n_keyframes * pts_per_frame + + def test_global_map_updates_after_loop_closure(self): + """After loop closure correction, global map positions should shift.""" + config = PGOConfig( + key_pose_delta_trans=0.3, + loop_search_radius=15.0, + loop_time_thresh=5.0, + loop_score_thresh=2.0, + min_loop_detect_duration=0.0, + global_map_voxel_size=0.0, + max_icp_correspondence_dist=20.0, + ) + pgo = _SimplePGO(config) + + # Add enough keyframes for a trajectory + for i in range(15): + pos = np.array([i * 0.5, 0.0, 0.0]) + cloud = make_random_cloud(np.zeros(3), n_points=50, seed=i % 3) + pgo.add_key_pose(np.eye(3), pos, float(i), cloud) + pgo.smooth_and_update() + + map_before = pgo.build_global_map(voxel_size=0.0) + assert len(map_before) > 0 + + # Inject a synthetic loop closure factor between first and last keyframe + # to force the optimizer to shift poses + if len(pgo._key_poses) >= 2: + pgo._cache_pairs.append( + { + "source": len(pgo._key_poses) - 1, + "target": 0, + "r_offset": np.eye(3), + "t_offset": np.zeros(3), + "score": 0.1, + } + ) + pgo.smooth_and_update() + + map_after = pgo.build_global_map(voxel_size=0.0) + assert len(map_after) > 0 + # After loop closure, positions should have shifted + # (the optimizer pulls the last keyframe toward the first) + diff = np.abs(map_after - map_before).sum() + assert diff > 0.0, "Global map should change after loop closure" + + def test_global_map_is_published_as_pointcloud(self): + """Global map should produce a valid numpy array that can become PointCloud2.""" + from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 + + pgo = _SimplePGO(PGOConfig(key_pose_delta_trans=0.3)) + + for i in range(3): + pos = np.array([i * 1.0, 0.0, 0.0]) + cloud = make_random_cloud(np.zeros(3), n_points=100, seed=i) + pgo.add_key_pose(np.eye(3), pos, float(i), cloud) + pgo.smooth_and_update() + + global_map = pgo.build_global_map(0.0) + assert len(global_map) > 0 + + # Convert to PointCloud2 — verify it's valid + pc2 = PointCloud2.from_numpy( + global_map.astype(np.float32), frame_id="map", timestamp=time.time() + ) + points_back, _ = pc2.as_numpy() + assert len(points_back) > 0 + assert points_back.shape[1] >= 3 + + +# ─── ICP Tests ──────────────────────────────────────────────────────────────── + + +class TestICP: + """Test ICP matching functionality.""" + + def test_icp_matches_identical_clouds(self): + """ICP between two identical clouds should return identity transform.""" + cloud = make_structured_cloud(np.zeros(3), n_points=500, seed=42) + + transform, score = _icp(cloud, cloud) + np.testing.assert_allclose(transform[:3, :3], np.eye(3), atol=0.1) + np.testing.assert_allclose(transform[:3, 3], np.zeros(3), atol=0.1) + assert score < 0.1 + + def test_icp_matches_translated_cloud(self): + """ICP should find the correct translation between shifted clouds.""" + cloud = make_structured_cloud(np.zeros(3), n_points=500, seed=42) + shifted = cloud + np.array([1.0, 0.0, 0.0]) + + transform, _score = _icp(shifted, cloud, max_dist=5.0) + estimated_translation = transform[:3, 3] + assert abs(estimated_translation[0] - (-1.0)) < 0.5, ( + f"Expected ~-1.0 x-translation, got {estimated_translation[0]:.3f}" + ) + + def test_icp_rejects_dissimilar_clouds(self): + """ICP between far-apart clouds should report infinite fitness (no match).""" + cloud_a = make_structured_cloud(np.array([0.0, 0.0, 0.0]), n_points=200, seed=1) + cloud_b = make_structured_cloud(np.array([100.0, 100.0, 0.0]), n_points=200, seed=2) + + # With max_dist=2.0 and clouds ~141m apart, _icp finds <10 correspondences + # and returns early with fitness=inf. + _transform, score = _icp(cloud_a, cloud_b, max_dist=2.0, max_iter=30) + assert score == float("inf"), f"Expected inf fitness (no correspondences), got {score}" + + +# ─── Edge Case Tests ───────────────────────────────────────────────────────── + + +class TestEdgeCases: + """Test edge cases and robustness.""" + + def test_empty_cloud_handled(self): + """Adding a keyframe with an empty cloud should not crash.""" + pgo = _SimplePGO(PGOConfig()) + empty_cloud = np.zeros((0, 3)) + result = pgo.add_key_pose(np.eye(3), np.zeros(3), 0.0, empty_cloud) + assert result is True # First pose is always a keyframe + pgo.smooth_and_update() + + # Global map from empty keyframe + global_map = pgo.build_global_map(0.0) + assert len(global_map) == 0 + + def test_single_keyframe_no_crash(self): + """System should work with just a single keyframe, no crash.""" + pgo = _SimplePGO(PGOConfig()) + cloud = make_random_cloud(np.zeros(3), n_points=100, seed=0) + pgo.add_key_pose(np.eye(3), np.zeros(3), 0.0, cloud) + pgo.smooth_and_update() + + # These should all work without crashing + assert len(pgo._key_poses) == 1 + global_map = pgo.build_global_map(0.0) + assert len(global_map) > 0 + r, t = pgo.get_corrected_pose(np.eye(3), np.zeros(3)) + np.testing.assert_allclose(r, np.eye(3), atol=1e-6) + np.testing.assert_allclose(t, np.zeros(3), atol=1e-6) + + # Loop search with single keyframe should not crash + pgo.search_for_loops() + assert len(pgo._history_pairs) == 0 + + +# ─── Python Wrapper Port Tests ─────────────────────────────────────────────── + + +class TestPGOWrapper: + """Test the Python NativeModule wrapper (port definitions).""" + + def test_pgo_module_has_correct_ports(self): + """PGO module should declare the right input/output ports.""" + from dimos.navigation.smart_nav.modules.pgo.pgo import PGO + + # Check class annotations for port definitions + annotations = PGO.__annotations__ + assert "registered_scan" in annotations + assert "odometry" in annotations + assert "corrected_odometry" in annotations + assert "global_map" in annotations + + def test_pgo_config_defaults(self): + """PGO config should have sensible defaults.""" + from dimos.navigation.smart_nav.modules.pgo.pgo import PGOConfig + + # NativeModuleConfig is Pydantic; check model_fields for defaults + fields = PGOConfig.model_fields + assert fields["key_pose_delta_trans"].default == 0.5 + assert fields["key_pose_delta_deg"].default == 10.0 + assert fields["loop_search_radius"].default == 15.0 + assert fields["loop_score_thresh"].default == 0.3 + assert fields["global_map_voxel_size"].default == 0.15 diff --git a/dimos/navigation/smart_nav/modules/simple_planner/simple_planner.py b/dimos/navigation/smart_nav/modules/simple_planner/simple_planner.py new file mode 100644 index 0000000000..817de4b463 --- /dev/null +++ b/dimos/navigation/smart_nav/modules/simple_planner/simple_planner.py @@ -0,0 +1,835 @@ +# 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. + +"""SimplePlanner: grid-based A* alternative to FarPlanner. + +Consumes a classified terrain pointcloud, voxelises it into an occupancy +grid (2D costmap in the XY plane), and runs A* from the robot's current +pose to the goal. Publishes the full path on ``goal_path`` and a +look-ahead waypoint on ``way_point`` for the local planner to track. + +This is intentionally small and readable — no visibility graph, no +smoothing, no dynamic obstacle handling — to serve as a baseline against +FarPlanner. +""" + +from __future__ import annotations + +from collections.abc import Callable +import heapq +import math +import threading +import time +from typing import Any + +import numpy as np + +from dimos.core.core import rpc +from dimos.core.module import Module, ModuleConfig +from dimos.core.stream import In, Out +from dimos.msgs.geometry_msgs.PointStamped import PointStamped +from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped +from dimos.msgs.nav_msgs.Path import Path +from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 +from dimos.navigation.smart_nav.frames import FRAME_BODY, FRAME_MAP, FRAME_ODOM +from dimos.utils.logging_config import setup_logger + +logger = setup_logger() + +# ────────────────────────────────────────────────────────────────────────── +# Pure-Python costmap + A* (no dependencies beyond numpy/stdlib) +# ────────────────────────────────────────────────────────────────────────── + + +class Costmap: + """2D occupancy grid keyed by (ix, iy) integer cell coords. + + Memory-efficient for sparse obstacle distributions — only populated + cells are stored in the dict. Each cell records the highest obstacle + height ever observed there, so re-observing the same grid cell with + a taller point promotes it to an obstacle if it wasn't already. + """ + + def __init__(self, cell_size: float, obstacle_height: float, inflation_radius: float) -> None: + if cell_size <= 0.0: + raise ValueError(f"cell_size must be positive, got {cell_size}") + if inflation_radius < 0.0: + raise ValueError(f"inflation_radius must be non-negative, got {inflation_radius}") + self.cell_size = float(cell_size) + self.obstacle_height = float(obstacle_height) + self.inflation_radius = float(inflation_radius) + # Raw heights observed per cell (max-ever). Keyed by (ix, iy). + self._heights: dict[tuple[int, int], float] = {} + # Inflated blocked set (recomputed lazily). + self._blocked: set[tuple[int, int]] = set() + self._blocked_dirty = True + + def world_to_cell(self, x: float, y: float) -> tuple[int, int]: + return (math.floor(x / self.cell_size), math.floor(y / self.cell_size)) + + def cell_to_world(self, ix: int, iy: int) -> tuple[float, float]: + # Return cell center. + return ((ix + 0.5) * self.cell_size, (iy + 0.5) * self.cell_size) + + def update(self, x: float, y: float, height: float) -> None: + """Record an obstacle-candidate point. Height is elevation above ground.""" + key = self.world_to_cell(x, y) + prev = self._heights.get(key, float("-inf")) + if height > prev: + self._heights[key] = height + self._blocked_dirty = True + + def clear(self) -> None: + self._heights.clear() + self._blocked.clear() + self._blocked_dirty = False + + def is_blocked(self, ix: int, iy: int) -> bool: + if self._blocked_dirty: + self._rebuild_blocked() + return (ix, iy) in self._blocked + + def _rebuild_blocked(self) -> None: + """Build the inflated obstacle set from the raw height map.""" + blocked: set[tuple[int, int]] = set() + # Inflation: the number of cells that lie within inflation_radius. + r_cells = math.ceil(self.inflation_radius / self.cell_size) + for (ix, iy), h in list(self._heights.items()): + if h < self.obstacle_height: + continue + if r_cells == 0: + blocked.add((ix, iy)) + continue + # Circle inflation (squared comparison to avoid sqrt per cell) + max_sq = (self.inflation_radius / self.cell_size) ** 2 + for dx in range(-r_cells, r_cells + 1): + for dy in range(-r_cells, r_cells + 1): + if dx * dx + dy * dy <= max_sq: + blocked.add((ix + dx, iy + dy)) + self._blocked = blocked + self._blocked_dirty = False + + def blocked_cells(self) -> set[tuple[int, int]]: + if self._blocked_dirty: + self._rebuild_blocked() + return self._blocked + + +# 8-connected grid neighbourhood: every cell in the 3×3 block around the +# current cell except the cell itself. Diagonals are included (and carry a +# √2 step cost) so that A* can produce near-Euclidean paths through +# doorways and along angled walls — a 4-connected search would force +# staircase paths that don't fit through ~1-cell-wide doorways. +_NEIGHBOURS: tuple[tuple[int, int, float], ...] = tuple( + (dx, dy, math.hypot(dx, dy)) for dx in (-1, 0, 1) for dy in (-1, 0, 1) if (dx, dy) != (0, 0) +) + + +def _blocked_at_inflation(cm: Costmap, inflation_radius: float) -> set[tuple[int, int]]: + """Recompute the inflated blocked set for ``cm`` at a different inflation. + + Used by the planner when escalating stuck-detection: we want to + retry A* with a smaller safety margin without mutating the live + costmap (other threads/readers still see the configured inflation). + """ + if inflation_radius < 0.0: + raise ValueError(f"inflation_radius must be non-negative, got {inflation_radius}") + cell = cm.cell_size + threshold = cm.obstacle_height + r_cells = math.ceil(inflation_radius / cell) + max_sq = (inflation_radius / cell) ** 2 if r_cells else 0.0 + blocked: set[tuple[int, int]] = set() + for (ix, iy), h in list(cm._heights.items()): + if h < threshold: + continue + if r_cells == 0: + blocked.add((ix, iy)) + continue + for dx in range(-r_cells, r_cells + 1): + for dy in range(-r_cells, r_cells + 1): + if dx * dx + dy * dy <= max_sq: + blocked.add((ix + dx, iy + dy)) + return blocked + + +def astar( + start: tuple[int, int], + goal: tuple[int, int], + is_blocked: Callable[[int, int], bool], + max_expansions: int = 200_000, +) -> list[tuple[int, int]] | None: + """Grid A* with octile heuristic, 8-connected. Returns cell path or None.""" + if start == goal: + return [start] + + def heuristic(c: tuple[int, int]) -> float: + dx = abs(c[0] - goal[0]) + dy = abs(c[1] - goal[1]) + # Octile distance + return (dx + dy) + (math.sqrt(2.0) - 2.0) * min(dx, dy) + + # If start or goal is blocked, try to step off — policy: we let the + # caller handle that by pre-unblocking those cells. + open_heap: list[tuple[float, int, tuple[int, int]]] = [] + counter = 0 + heapq.heappush(open_heap, (heuristic(start), counter, start)) + g_score: dict[tuple[int, int], float] = {start: 0.0} + came_from: dict[tuple[int, int], tuple[int, int]] = {} + + expansions = 0 + while open_heap: + expansions += 1 + if expansions > max_expansions: + return None + _, _, current = heapq.heappop(open_heap) + if current == goal: + # Reconstruct + path = [current] + while current in came_from: + current = came_from[current] + path.append(current) + path.reverse() + return path + + cur_g = g_score[current] + cx, cy = current + for dx, dy, step in _NEIGHBOURS: + nb = (cx + dx, cy + dy) + if is_blocked(nb[0], nb[1]): + continue + tentative = cur_g + step + if tentative < g_score.get(nb, float("inf")): + came_from[nb] = current + g_score[nb] = tentative + counter += 1 + f = tentative + heuristic(nb) + heapq.heappush(open_heap, (f, counter, nb)) + + return None + + +# ────────────────────────────────────────────────────────────────────────── +# Config + Module +# ────────────────────────────────────────────────────────────────────────── + + +class SimplePlannerConfig(ModuleConfig): + """Config for the simple grid-A* planner.""" + + # Costmap resolution in metres per cell. + cell_size: float = 0.3 + # Points above this elevation (height above ground from terrain_map + # intensity) mark a cell as an obstacle. + obstacle_height_threshold: float = 0.15 + # Circular inflation radius around each obstacle (metres). Generous + # by default: for a ~0.5 m diameter robot this keeps the A* path ~0.4 m + # off every wall. Stuck-detection (below) shrinks this when a + # doorway would otherwise be unpassable. + inflation_radius: float = 0.2 + # Look-ahead distance along the planned path to emit as the next + # waypoint for the local planner. + lookahead_distance: float = 2.0 + # Replan + publish rate (Hz) — how often the planning loop wakes up. + replan_rate: float = 5.0 + # Minimum seconds between successive A* searches. Waypoints are + # still republished at replan_rate using the cached path, but A* + # only re-runs after this cooldown. This prevents path flicker + # between near-equivalent A* solutions. + replan_cooldown: float = 2.0 + # Hard cap on A* node expansions per call. + max_expansions: int = 200_000 + # Height offset below the robot z-position to estimate ground level (m). + # Points below this level are ignored; points above become obstacle + # candidates. Should match or slightly exceed the robot's standing height. + ground_offset_below_robot: float = 1.3 + + # ── No-progress detection + escalation ────────────────────────────── + # Consider the robot "stuck" if its distance-to-goal hasn't decreased + # by at least ``progress_epsilon`` metres within ``stuck_seconds``. + stuck_seconds: float = 5.0 + # Minimum improvement in goal-distance that counts as progress. + progress_epsilon: float = 0.25 + # When stuck, progressively shrink the inflation_radius by this + # fraction each escalation step (e.g. 0.5 → half, then quarter, …). + # Shrinking too aggressively risks clipping obstacles, so we bottom + # out at ``stuck_min_inflation``. + stuck_shrink_factor: float = 0.5 + stuck_min_inflation: float = 0.2 + # When the robot is within this distance (m) of the current + # intermediate waypoint, proactively advance the waypoint along the + # cached path so the local planner never stops on it. Should be + # larger than LocalPlanner's goal_reached_threshold. + waypoint_advance_radius: float = 1.0 + + +class SimplePlanner(Module): + """Grid-A* global route planner (alternative to FarPlanner). + + Ports: + terrain_map_ext (In[PointCloud2]): Long-range accumulated terrain + cloud (world frame, has decay on the producer side). + Rebuilds the costmap from scratch every time it arrives. + terrain_map (In[PointCloud2]): Fresh local terrain cloud from + TerrainAnalysis. Layered on top of the ext map between + rebuilds so dynamic obstacles show up within ~1 scan tick. + goal (In[PointStamped]): User-specified goal (world frame). + way_point (Out[PointStamped]): Next look-ahead waypoint for local + planner. + goal_path (Out[Path]): Full A* path for visualisation. + costmap_cloud (Out[PointCloud2]): Blocked-cell centers — what + A* treats as obstacles, including inflation. Published at + the same cadence as the planning loop for debugging. + + Robot pose is obtained via the TF tree (``map → body``) rather than + an Odometry stream. This gives the loop-closure-corrected pose + automatically when PGO is active. + """ + + config: SimplePlannerConfig + + terrain_map_ext: In[PointCloud2] + terrain_map: In[PointCloud2] + goal: In[PointStamped] + way_point: Out[PointStamped] + goal_path: Out[Path] + costmap_cloud: Out[PointCloud2] + + def __init__(self, **kwargs: Any) -> None: + super().__init__(**kwargs) + self._lock = threading.Lock() + self._running = False + self._thread: threading.Thread | None = None + self._costmap = Costmap( + cell_size=self.config.cell_size, + obstacle_height=self.config.obstacle_height_threshold, + inflation_radius=self.config.inflation_radius, + ) + self._robot_x = 0.0 + self._robot_y = 0.0 + self._robot_z = 0.0 + self._has_odom = False + self._goal_x: float | None = None + self._goal_y: float | None = None + self._goal_z = 0.0 + self._last_diag_print = 0.0 + # Progress tracker. ``_ref_goal_dist`` is the distance-to-goal we + # last clocked as progress; any subsequent drop of at least + # ``progress_epsilon`` counts as "still making headway" and + # refreshes ``_last_progress_time``. + self._ref_goal_dist = float("inf") + self._last_progress_time = 0.0 + # Current inflation in use — shrunk on stuck escalation, reset + # to config.inflation_radius on new goal. + self._effective_inflation = self.config.inflation_radius + # Cached last-successful A* path and when we planned it, so + # waypoints can still be republished between replans (cooldown + # is enforced in the planning loop). + self._cached_path: list[tuple[float, float]] | None = None + self._last_plan_time = 0.0 + # Costmap_cloud publish throttle — 2 Hz is plenty for rerun. + self._last_costmap_pub = 0.0 + # Currently published waypoint — tracked so the odom callback can + # detect when the robot is about to reach it and advance early. + self._current_wp: tuple[float, float] | None = None + self._current_wp_is_goal = False + + def __getstate__(self) -> dict[str, Any]: + state: dict[str, Any] = super().__getstate__() # type: ignore[no-untyped-call] + for k in ("_lock", "_thread", "_costmap"): + state.pop(k, None) + return state + + def __setstate__(self, state: dict[str, Any]) -> None: + super().__setstate__(state) + self._lock = threading.Lock() + self._thread = None + self._costmap = Costmap( + cell_size=self.config.cell_size, + obstacle_height=self.config.obstacle_height_threshold, + inflation_radius=self.config.inflation_radius, + ) + + @rpc + def start(self) -> None: + self.goal.subscribe(self._on_goal) + self.terrain_map_ext.subscribe(self._on_terrain_map_ext) + self.terrain_map.subscribe(self._on_terrain_map) + self._running = True + self._thread = threading.Thread(target=self._planning_loop, daemon=True) + self._thread.start() + logger.info("SimplePlanner started") + + @rpc + def stop(self) -> None: + self._running = False + if self._thread is not None: + self._thread.join(timeout=3.0) + self._thread = None + super().stop() + + # ── TF pose query ─────────────────────────────────────────────────────── + + # Ordered list of (parent, child) TF lookups to try for the robot pose. + # The first successful lookup wins. ``body`` is the standard REP-105 + # child frame; ``sensor`` is used by the Unity sim bridge. + _TF_POSE_QUERIES: list[tuple[str, str]] = [ + (FRAME_MAP, FRAME_BODY), + (FRAME_ODOM, FRAME_BODY), + (FRAME_MAP, "sensor"), + ] + + def _query_pose(self) -> bool: + """Update cached robot position from the TF tree. + + Tries several ``(parent, child)`` pairs in priority order so the + planner works both on real hardware (``map → body`` via PGO + + FastLio2) and in simulation (``map → sensor`` from the Unity + bridge). + + Returns True if a pose was obtained from any chain. + """ + tf = None + for parent, child in self._TF_POSE_QUERIES: + tf = self.tf.get(parent, child) + if tf is not None: + break + if tf is None: + now = time.monotonic() + if now - getattr(self, "_last_tf_warn", 0.0) > 5.0: + self._last_tf_warn = now + buffers = list(self.tf.buffers.keys()) if hasattr(self.tf, "buffers") else [] + logger.warning( + "TF lookup failed — no robot pose available", + tried=[(p, c) for p, c in self._TF_POSE_QUERIES], + available_frames=buffers, + ) + return False + with self._lock: + self._robot_x = float(tf.translation.x) + self._robot_y = float(tf.translation.y) + self._robot_z = float(tf.translation.z) + self._has_odom = True + return True + + # ── Subscription callbacks ───────────────────────────────────────────── + + def _on_goal(self, msg: PointStamped) -> None: + # NaN sentinel = cancel navigation (e.g. teleop took over). + if not all(math.isfinite(v) for v in (msg.x, msg.y, msg.z)): + with self._lock: + self._goal_x = None + self._goal_y = None + self._cached_path = None + rx, ry, rz = self._robot_x, self._robot_y, self._robot_z + # Publish robot position as waypoint so LocalPlanner stops + # tracking the stale waypoint. + self._current_wp = None + self._current_wp_is_goal = False + now = time.time() + self.way_point.publish(PointStamped(ts=now, frame_id=FRAME_MAP, x=rx, y=ry, z=rz)) + self.goal_path.publish(Path(ts=now, frame_id=FRAME_MAP, poses=[])) + logger.info("Goal cleared — idle until new goal") + return + with self._lock: + self._goal_x = float(msg.x) + self._goal_y = float(msg.y) + self._goal_z = float(msg.z) + # Fresh goal → fresh progress tracker + restore default + # inflation + drop cached path so the next tick plans + # immediately (no cooldown wait for a brand-new goal). + self._ref_goal_dist = float("inf") + self._last_progress_time = time.monotonic() + self._effective_inflation = self.config.inflation_radius + self._cached_path = None + self._last_plan_time = 0.0 + logger.info("Goal received", x=round(msg.x, 2), y=round(msg.y, 2), z=round(msg.z, 2)) + + # Sensor height assumed for the G1 (m). Points below robot_z minus + # this offset are interpreted as floor; anything higher is obstacle. + + def _classify_points(self, points: np.ndarray, cm: Costmap) -> None: + """Add points (Nx3) to ``cm`` using z-relative-to-ground as height. + + The dimos PointCloud2 wrapper drops the intensity field, so we + can't read elevation-above-ground directly. Instead we classify + by the point's absolute z relative to the robot's standing + ground (rz - ``_GROUND_OFFSET_BELOW_ROBOT``). TerrainAnalysis + only publishes ground/low-height obstacle voxels, so + z-relative-to-ground is a good elevation proxy. + """ + if len(points) == 0: + return + with self._lock: + rz = self._robot_z if self._has_odom else 0.0 + ground_z = rz - self.config.ground_offset_below_robot + heights = points[:, 2] - ground_z + mask = heights > 0.0 + if not np.any(mask): + return + xs = points[mask, 0] + ys = points[mask, 1] + hs = heights[mask] + cell_size = cm.cell_size + ixs = np.floor(xs / cell_size).astype(np.int64) + iys = np.floor(ys / cell_size).astype(np.int64) + # Group by cell and take max height per cell (vectorized). + keys = np.column_stack((ixs, iys)) + _, inverse, counts = np.unique(keys, axis=0, return_inverse=True, return_counts=True) + max_h = np.full(len(counts), float("-inf")) + np.maximum.at(max_h, inverse, hs) + unique_keys = keys[np.unique(inverse, return_index=True)[1]] + dirty = False + for i in range(len(unique_keys)): + key = (int(unique_keys[i, 0]), int(unique_keys[i, 1])) + h = float(max_h[i]) + prev = cm._heights.get(key, float("-inf")) + if h > prev: + cm._heights[key] = h + dirty = True + if dirty: + cm._blocked_dirty = True + + def _fresh_costmap(self) -> Costmap: + return Costmap( + cell_size=self.config.cell_size, + obstacle_height=self.config.obstacle_height_threshold, + inflation_radius=self.config.inflation_radius, + ) + + def _on_terrain_map_ext(self, msg: PointCloud2) -> None: + """Rebuild the costmap from scratch using the persistent world view. + + ``terrain_map_ext`` applies a decay window (8 s by default) on + the producer side, so each message represents the current world + state. Resetting here prevents stale obstacles from piling up + forever. + """ + points, _ = msg.as_numpy() + if points is None or len(points) == 0: + return + new_cm = self._fresh_costmap() + self._classify_points(points, new_cm) + # Hot-swap in one assignment so the planning loop sees either + # the old or the new map but never a partial one. + # Note: a concurrent _on_terrain_map may still be writing into the + # old costmap when we swap; those writes are silently lost. This is + # acceptable — the next terrain_map_ext rebuild will pick them up. + self._costmap = new_cm + + def _on_terrain_map(self, msg: PointCloud2) -> None: + """Layer fresh local terrain on top of the current costmap. + + ``terrain_map`` arrives faster than ``terrain_map_ext`` and + carries the most recent local view, so dynamic obstacles appear + here first. We additively merge into the existing costmap; + these additions are wiped on the next ``terrain_map_ext`` + rebuild. + """ + points, _ = msg.as_numpy() + if points is None or len(points) == 0: + return + self._classify_points(points, self._costmap) + + # ── Planning loop ────────────────────────────────────────────────────── + + def _planning_loop(self) -> None: + rate = self.config.replan_rate + period = 1.0 / rate if rate > 0 else 0.2 + while self._running: + t0 = time.monotonic() + try: + self._replan_once() + except Exception as exc: # don't let the planning thread die + logger.error("Replan error", exc_info=exc) + dt = time.monotonic() - t0 + sleep = period - dt + if sleep > 0: + time.sleep(sleep) + + def _publish_costmap_cloud(self, rz: float, now: float) -> None: + """Publish the blocked-cell centers as a PointCloud2 for rerun. + + Throttled to ~2 Hz. Each cell becomes a 3D point at the cell + center, lifted slightly above the robot's z for visibility. + """ + if now - self._last_costmap_pub < 0.5: + return + self._last_costmap_pub = now + cm = self._costmap + blocked = cm.blocked_cells() + if not blocked: + pts = np.zeros((0, 3), dtype=np.float32) + else: + pts = np.empty((len(blocked), 3), dtype=np.float32) + for i, (ix, iy) in enumerate(blocked): + wx, wy = cm.cell_to_world(ix, iy) + pts[i, 0] = wx + pts[i, 1] = wy + pts[i, 2] = rz - self.config.ground_offset_below_robot + 0.1 + self.costmap_cloud.publish(PointCloud2.from_numpy(pts, frame_id=FRAME_MAP, timestamp=now)) + + def _publish_from_cached(self, rx: float, ry: float, gz: float, now: float) -> None: + """Republish a look-ahead waypoint from the cached path. + + Called while the replan cooldown is in effect — we don't touch + the goal_path (it's already current in the viewer) but we do + keep feeding LocalPlanner fresh waypoints so it doesn't treat + the robot as idle. + """ + with self._lock: + cached = self._cached_path + if not cached: + return + wx, wy = self._lookahead(cached, rx, ry, self.config.lookahead_distance) + last = cached[-1] + is_goal = (wx, wy) == last + with self._lock: + self._current_wp = (wx, wy) + self._current_wp_is_goal = is_goal + self.way_point.publish(PointStamped(ts=now, frame_id=FRAME_MAP, x=wx, y=wy, z=gz)) + + def _maybe_advance_waypoint(self, rx: float, ry: float, gz: float) -> None: + """If the robot is close to the current intermediate waypoint, advance it.""" + with self._lock: + wp = self._current_wp + is_goal = self._current_wp_is_goal + cached = self._cached_path + if wp is None or is_goal or cached is None: + return + dist_sq = (wp[0] - rx) ** 2 + (wp[1] - ry) ** 2 + threshold_sq = self.config.waypoint_advance_radius**2 + if dist_sq > threshold_sq: + return + extended_lookahead = self.config.lookahead_distance * 1.5 + wx, wy = self._lookahead(cached, rx, ry, extended_lookahead) + last = cached[-1] + new_is_goal = (wx, wy) == last + with self._lock: + self._current_wp = (wx, wy) + self._current_wp_is_goal = new_is_goal + now = time.time() + self.way_point.publish(PointStamped(ts=now, frame_id=FRAME_MAP, x=wx, y=wy, z=gz)) + + def _replan_once(self) -> None: + # Refresh pose from the TF tree every tick. + self._query_pose() + + with self._lock: + if not self._has_odom or self._goal_x is None or self._goal_y is None: + return + rx, ry, rz = self._robot_x, self._robot_y, self._robot_z + gx, gy, gz = self._goal_x, self._goal_y, self._goal_z + + mono_now = time.monotonic() + goal_dist = math.hypot(gx - rx, gy - ry) + now = time.time() + + # ── Waypoint advance: keep the next waypoint ahead of the robot + # so the local planner never stops on an intermediate waypoint ── + self._maybe_advance_waypoint(rx, ry, gz) + + # ── Cooldown: if it's too soon for a fresh A*, just refresh + # the waypoint from the cached path using the current pose ──── + with self._lock: + cooldown_active = ( + self._cached_path is not None + and mono_now - self._last_plan_time < self.config.replan_cooldown + ) + # Publish the debug costmap every tick (throttled internally). + self._publish_costmap_cloud(rz, now) + + if cooldown_active: + self._publish_from_cached(rx, ry, gz, now) + return + + # ── Update progress tracker + escalate if stuck ──────────────── + with self._lock: + if goal_dist < self._ref_goal_dist - self.config.progress_epsilon: + self._ref_goal_dist = goal_dist + self._last_progress_time = mono_now + # Don't bump inflation back up: if we shrank it to clear + # a tight spot, keep it shrunk until the next goal. + # Oscillating between wide/narrow inflation was wasting + # time per cycle on the way through a single doorway. + elif ( + mono_now - self._last_progress_time >= self.config.stuck_seconds + and self._effective_inflation > self.config.stuck_min_inflation + ): + prev = self._effective_inflation + new_inflation = max( + self.config.stuck_min_inflation, + prev * self.config.stuck_shrink_factor, + ) + if new_inflation < prev: + self._effective_inflation = new_inflation + self._last_progress_time = mono_now # arm next tier + logger.warning( + "Stuck — shrinking inflation", + stuck_seconds=self.config.stuck_seconds, + goal_dist=round(goal_dist, 2), + ref_dist=round(self._ref_goal_dist, 2), + inflation_from=round(prev, 2), + inflation_to=round(new_inflation, 2), + ) + # Re-arm the progress window at this new tier so a + # brief dist-drop doesn't snap us back to default. + self._ref_goal_dist = goal_dist + effective_inflation = self._effective_inflation + + path_world = self.plan(rx, ry, gx, gy, inflation_override=effective_inflation) + with self._lock: + self._last_plan_time = mono_now # start cooldown now, success or not + if path_world is None: + # A* failed (goal unreachable through the current costmap). + # Don't drive the robot into a wall: publish the robot's + # current position so the local planner stops, and wait + # for the costmap to refresh before the next attempt. + logger.warning( + "A* failed; holding position", + robot=f"({rx:.2f},{ry:.2f})", + goal=f"({gx:.2f},{gy:.2f})", + ) + with self._lock: + self._current_wp = None + self._current_wp_is_goal = False + self.way_point.publish(PointStamped(ts=now, frame_id=FRAME_MAP, x=rx, y=ry, z=rz)) + self.goal_path.publish( + Path( + ts=now, + frame_id=FRAME_MAP, + poses=[ + PoseStamped( + ts=now, + frame_id=FRAME_MAP, + position=[rx, ry, rz], + orientation=[0.0, 0.0, 0.0, 1.0], + ), + PoseStamped( + ts=now, + frame_id=FRAME_MAP, + position=[gx, gy, gz], + orientation=[0.0, 0.0, 0.0, 1.0], + ), + ], + ) + ) + return + + # Cache the fresh path for use during the cooldown. + with self._lock: + self._cached_path = path_world + + # Publish goal_path + poses: list[PoseStamped] = [] + for wx, wy in path_world: + poses.append( + PoseStamped( + ts=now, + frame_id=FRAME_MAP, + position=[wx, wy, rz], + orientation=[0.0, 0.0, 0.0, 1.0], + ) + ) + self.goal_path.publish(Path(ts=now, frame_id=FRAME_MAP, poses=poses)) + + # Pick look-ahead waypoint + wx, wy = self._lookahead(path_world, rx, ry, self.config.lookahead_distance) + last = path_world[-1] + is_goal = (wx, wy) == last + with self._lock: + self._current_wp = (wx, wy) + self._current_wp_is_goal = is_goal + self.way_point.publish(PointStamped(ts=now, frame_id=FRAME_MAP, x=wx, y=wy, z=gz)) + + # 1 Hz diagnostic: cells in costmap, path length, chosen waypoint + if now - self._last_diag_print >= 1.0: + self._last_diag_print = now + blocked = len(self._costmap.blocked_cells()) + logger.info( + "Replan", + path_cells=len(path_world), + blocked_cells=blocked, + robot=f"({rx:.2f},{ry:.2f})", + goal=f"({gx:.2f},{gy:.2f})", + waypoint=f"({wx:.2f},{wy:.2f})", + inflation=round(effective_inflation, 2), + ) + + def plan( + self, + rx: float, + ry: float, + gx: float, + gy: float, + inflation_override: float | None = None, + ) -> list[tuple[float, float]] | None: + """Run A* in world coordinates. Returns [(x, y), ...] or None. + + If ``inflation_override`` is given and differs from the costmap's + current inflation, the blocked-cell set is rebuilt with the + override radius before searching (without mutating the live + costmap that other callers may be reading). + """ + cm = self._costmap + if inflation_override is not None and inflation_override != cm.inflation_radius: + # Build a view of blocked cells with a different inflation. + # Cheap: we only change the inflation field and rebuild. + blocked = _blocked_at_inflation(cm, inflation_override) + else: + blocked = cm.blocked_cells() + + start = cm.world_to_cell(rx, ry) + goal = cm.world_to_cell(gx, gy) + + # Ignore start/goal cell obstructions so we can plan even if the + # robot or the goal clip an inflated cell. + def is_blocked(ix: int, iy: int) -> bool: + if (ix, iy) == start or (ix, iy) == goal: + return False + return (ix, iy) in blocked + + path_cells = astar(start, goal, is_blocked, max_expansions=self.config.max_expansions) + if path_cells is None: + return None + return [cm.cell_to_world(ix, iy) for (ix, iy) in path_cells] + + @staticmethod + def _lookahead( + path: list[tuple[float, float]], rx: float, ry: float, distance: float + ) -> tuple[float, float]: + """Pick a look-ahead point at least ``distance`` metres ahead of the + robot along the path. + + First finds the path index closest to (rx, ry), then walks forward + until the cumulative distance from that closest point exceeds + ``distance``. Falls back to the final path node if nothing is far + enough. Path is ordered start → goal. + """ + if not path: + return (rx, ry) + # Closest path index to the robot + best_idx = 0 + best_d2 = float("inf") + for i, (wx, wy) in enumerate(path): + d2 = (wx - rx) ** 2 + (wy - ry) ** 2 + if d2 < best_d2: + best_d2 = d2 + best_idx = i + # Walk forward from there until we've covered `distance` + d2_target = distance * distance + for i in range(best_idx, len(path)): + wx, wy = path[i] + if (wx - rx) ** 2 + (wy - ry) ** 2 >= d2_target: + return (wx, wy) + return path[-1] diff --git a/dimos/navigation/smart_nav/modules/simple_planner/test_simple_planner.py b/dimos/navigation/smart_nav/modules/simple_planner/test_simple_planner.py new file mode 100644 index 0000000000..96d5ec5f13 --- /dev/null +++ b/dimos/navigation/smart_nav/modules/simple_planner/test_simple_planner.py @@ -0,0 +1,460 @@ +# 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. + +"""Unit tests for Costmap + A* used by SimplePlanner.""" + +from __future__ import annotations + +from collections.abc import Callable +import math + +import pytest + +from dimos.navigation.smart_nav.modules.simple_planner.simple_planner import ( + Costmap, + SimplePlanner, + _blocked_at_inflation, + astar, +) + +# ─── Costmap ───────────────────────────────────────────────────────────── + + +class TestCostmap: + def test_world_cell_roundtrip(self) -> None: + cm = Costmap(cell_size=0.5, obstacle_height=0.1, inflation_radius=0.0) + for x, y in [(0.0, 0.0), (1.25, -2.75), (10.1, 4.4)]: + ix, iy = cm.world_to_cell(x, y) + cx, cy = cm.cell_to_world(ix, iy) + # Cell center is within half-cell of original + assert abs(cx - x) <= 0.5 + assert abs(cy - y) <= 0.5 + + def test_height_max_tracks_tallest(self) -> None: + cm = Costmap(cell_size=1.0, obstacle_height=0.5, inflation_radius=0.0) + cm.update(0.1, 0.1, 0.2) + cm.update(0.2, 0.3, 0.8) + cm.update(0.4, 0.4, 0.4) # same cell, smaller than 0.8 + assert cm.is_blocked(0, 0) # 0.8 > 0.5 + + def test_height_below_threshold_not_blocked(self) -> None: + cm = Costmap(cell_size=1.0, obstacle_height=0.5, inflation_radius=0.0) + cm.update(0.5, 0.5, 0.3) # below threshold + assert not cm.is_blocked(0, 0) + + def test_clear_wipes_obstacles(self) -> None: + cm = Costmap(cell_size=1.0, obstacle_height=0.1, inflation_radius=0.0) + cm.update(0.0, 0.0, 1.0) + assert cm.is_blocked(0, 0) + cm.clear() + assert not cm.is_blocked(0, 0) + + def test_inflation_blocks_neighbours(self) -> None: + cm = Costmap(cell_size=1.0, obstacle_height=0.1, inflation_radius=1.5) + cm.update(0.0, 0.0, 1.0) + # Center is blocked + assert cm.is_blocked(0, 0) + # Cells within radius 1.5 are blocked (Manhattan dist ≤ 1 is always in a circle of r=1.5) + assert cm.is_blocked(1, 0) + assert cm.is_blocked(0, 1) + assert cm.is_blocked(-1, 0) + assert cm.is_blocked(1, 1) # sqrt(2) ≈ 1.41 < 1.5 + # Cells outside radius 1.5 are not blocked + assert not cm.is_blocked(2, 0) + assert not cm.is_blocked(0, 2) + + def test_zero_inflation(self) -> None: + cm = Costmap(cell_size=1.0, obstacle_height=0.1, inflation_radius=0.0) + cm.update(0.0, 0.0, 1.0) + assert cm.is_blocked(0, 0) + assert not cm.is_blocked(1, 0) + + def test_invalid_cell_size(self) -> None: + with pytest.raises(ValueError): + Costmap(cell_size=0.0, obstacle_height=0.1, inflation_radius=0.0) + with pytest.raises(ValueError): + Costmap(cell_size=-1.0, obstacle_height=0.1, inflation_radius=0.0) + + def test_invalid_inflation(self) -> None: + with pytest.raises(ValueError): + Costmap(cell_size=1.0, obstacle_height=0.1, inflation_radius=-0.1) + + +# ─── A* ────────────────────────────────────────────────────────────────── + + +def _never_blocked(ix: int, iy: int) -> bool: + return False + + +def _blocked_set(cells: set[tuple[int, int]]) -> Callable[[int, int], bool]: + def _inner(ix: int, iy: int) -> bool: + return (ix, iy) in cells + + return _inner + + +class TestAstar: + def test_trivial_same_cell(self) -> None: + assert astar((3, 4), (3, 4), _never_blocked) == [(3, 4)] + + def test_straight_line_no_obstacles(self) -> None: + path = astar((0, 0), (5, 0), _never_blocked) + assert path is not None + assert path[0] == (0, 0) + assert path[-1] == (5, 0) + # 5 straight steps → 6 cells + assert len(path) == 6 + + def test_diagonal_no_obstacles(self) -> None: + path = astar((0, 0), (3, 3), _never_blocked) + assert path is not None + assert path[0] == (0, 0) + assert path[-1] == (3, 3) + # Prefer diagonal: 3 moves + 1 cell = 4 cells + assert len(path) == 4 + + def test_wall_detours(self) -> None: + # vertical wall at x=2 for y in [-1..1], need to go around + wall = {(2, -1), (2, 0), (2, 1)} + path = astar((0, 0), (4, 0), _blocked_set(wall)) + assert path is not None + assert path[0] == (0, 0) + assert path[-1] == (4, 0) + # Must not pass through wall cells + for cell in path: + assert cell not in wall + + def test_unreachable_goal(self) -> None: + # Enclosed goal + wall = {(2, -1), (2, 0), (2, 1), (1, -1), (3, -1), (1, 1), (3, 1), (2, 2)} + # Add missing walls to fully enclose (2, 0) + wall |= {(1, 0), (3, 0)} # but goal is (2, 0) which is inside walls — wait + # Actually goal (2, 0) IS in the wall. Use a different example. + wall = { + (0, 1), + (1, 1), + (2, 1), + (2, 0), + (0, -1), + (1, -1), + (2, -1), + (-1, -1), + (-1, 0), + (-1, 1), + } # encloses (0, 0) and (1, 0) + # Goal outside the box + path = astar((0, 0), (5, 0), _blocked_set(wall)) + assert path is None + + def test_max_expansions_cap(self) -> None: + # Should give up instead of hanging + path = astar((0, 0), (10000, 10000), _never_blocked, max_expansions=100) + assert path is None + + def test_octile_prefers_diagonal(self) -> None: + # 4 straight moves vs 2 diagonal + 2 straight = same displacement + # but A* should find the optimal octile path. + path = astar((0, 0), (2, 2), _never_blocked) + assert path is not None + # Two diagonal steps = 3 cells + assert len(path) == 3 + + +# ─── SimplePlanner.plan() + lookahead (no threading, no LCM) ───────────── + + +class TestSimplePlannerPlan: + def _make_planner(self, cell_size: float = 0.5) -> SimplePlanner: + # Constructing Module directly needs the blueprint machinery; use + # object.__new__ and fill in the fields we actually need so we + # can unit-test the plan() + _lookahead() logic standalone. + p = SimplePlanner.__new__(SimplePlanner) + p._costmap = Costmap(cell_size=cell_size, obstacle_height=0.1, inflation_radius=0.0) + + # Fake config holder for the plan() max_expansions access + class _C: + max_expansions = 200_000 + + p.config = _C() # type: ignore[assignment] + return p + + def test_plan_straight_open_path(self) -> None: + p = self._make_planner(cell_size=0.5) + path = p.plan(0.0, 0.0, 2.0, 0.0) + assert path is not None + # First cell is near start, last cell is near goal + assert abs(path[0][0] - 0.25) < 1e-6 + assert abs(path[0][1] - 0.25) < 1e-6 + assert abs(path[-1][0] - 2.25) < 1e-6 + assert abs(path[-1][1] - 0.25) < 1e-6 + + def test_plan_routes_around_obstacle(self) -> None: + p = self._make_planner(cell_size=0.5) + # Build a wall at x≈1.0 between y=-0.5 and y=1.0 + for y in (-0.5, 0.0, 0.5, 1.0): + p._costmap.update(1.0, y, 1.0) + path = p.plan(0.0, 0.0, 2.0, 0.0) + assert path is not None + blocked = p._costmap.blocked_cells() + # Path cells (converted back to cell indices) must not contain blocked cells + for wx, wy in path: + ix, iy = p._costmap.world_to_cell(wx, wy) + assert ( + (ix, iy) not in blocked + or (ix, iy) == p._costmap.world_to_cell(0.0, 0.0) + or (ix, iy) == p._costmap.world_to_cell(2.0, 0.0) + ) + + def test_plan_returns_none_when_blocked(self) -> None: + p = self._make_planner(cell_size=0.5) + # Box in the start + for x in (-0.5, 0.0, 0.5): + for y in (-0.5, 0.0, 0.5): + if (x, y) == (0.0, 0.0): + continue + p._costmap.update(x, y, 1.0) + # Also block further out — but actually with finite box, still reachable. Skip. + # Instead test a tiny costmap where goal is surrounded on all 8 sides. + p2 = self._make_planner(cell_size=1.0) + gx, gy = 5.0, 0.0 + # Ring around goal cell (5, 0) + for dx, dy in ((1, 0), (-1, 0), (0, 1), (0, -1), (1, 1), (-1, -1), (1, -1), (-1, 1)): + p2._costmap.update(gx + dx * 1.0, gy + dy * 1.0, 1.0) + path = p2.plan(0.0, 0.0, gx, gy) + assert path is None + + def test_lookahead_picks_far_enough(self) -> None: + path = [(0.0, 0.0), (0.5, 0.0), (1.0, 0.0), (1.5, 0.0), (2.0, 0.0)] + wx, wy = SimplePlanner._lookahead(path, 0.0, 0.0, 1.0) + assert math.isclose(wx, 1.0) + assert math.isclose(wy, 0.0) + + def test_lookahead_falls_back_to_end(self) -> None: + path = [(0.0, 0.0), (0.1, 0.0)] + wx, wy = SimplePlanner._lookahead(path, 0.0, 0.0, 5.0) + assert math.isclose(wx, 0.1) + assert math.isclose(wy, 0.0) + + def test_lookahead_empty_path(self) -> None: + wx, wy = SimplePlanner._lookahead([], 3.0, 4.0, 1.0) + assert wx == 3.0 and wy == 4.0 + + def test_plan_with_inflation_override_opens_doorway(self) -> None: + # Enclosed box with a single-cell doorway at (0, 3). Robot at + # (0, 0), goal at (0, 6). Inflation 1.0 seals the doorway; + # override to 0.0 should open it. + p = self._make_planner(cell_size=1.0) + p._costmap = Costmap(cell_size=1.0, obstacle_height=0.1, inflation_radius=1.0) + # Box: ix in [-3, 3], iy in [-1, 3] and [-1, 7] walls + for ix in range(-3, 4): + p._costmap.update(float(ix), -1.0, 1.0) # bottom (inner box) + p._costmap.update(float(ix), 7.0, 1.0) # top (outer box) + for iy in range(-1, 8): + p._costmap.update(-3.0, float(iy), 1.0) # left + p._costmap.update(3.0, float(iy), 1.0) # right + # Divider wall at iy=3 with doorway at ix=0 + for ix in range(-2, 3): + if ix == 0: + continue + p._costmap.update(float(ix), 3.0, 1.0) + assert p.plan(0.0, 0.0, 0.0, 6.0) is None + path = p.plan(0.0, 0.0, 0.0, 6.0, inflation_override=0.0) + assert path is not None + assert any(p._costmap.world_to_cell(wx, wy) == (0, 3) for wx, wy in path) + + def test_lookahead_moving_robot(self) -> None: + # Robot is already halfway down the path; look-ahead should pick a + # point ahead of the robot, not at the start. + path = [(x, 0.0) for x in (0.0, 1.0, 2.0, 3.0, 4.0, 5.0)] + wx, wy = SimplePlanner._lookahead(path, 2.0, 0.0, 1.5) + # From (2, 0), first point ≥ 1.5 m away is (4, 0) (dist 2.0), + # not (3, 0) which is only 1.0 m away. + assert math.isclose(wx, 4.0) + + +# ─── _blocked_at_inflation helper ───────────────────────────────────────── + + +class TestBlockedAtInflation: + def _cm_with_single_obstacle(self) -> Costmap: + cm = Costmap(cell_size=1.0, obstacle_height=0.1, inflation_radius=0.0) + cm.update(0.0, 0.0, 1.0) + return cm + + def test_zero_inflation_single_cell(self) -> None: + cm = self._cm_with_single_obstacle() + blocked = _blocked_at_inflation(cm, 0.0) + assert blocked == {(0, 0)} + + def test_larger_inflation_includes_neighbours(self) -> None: + cm = self._cm_with_single_obstacle() + blocked_0 = _blocked_at_inflation(cm, 0.0) + blocked_2 = _blocked_at_inflation(cm, 2.0) + assert blocked_0.issubset(blocked_2) + assert (1, 0) in blocked_2 + assert (0, 1) in blocked_2 + assert (2, 2) not in blocked_2 # sqrt(8) ≈ 2.83 > 2 + + def test_below_height_threshold_ignored(self) -> None: + cm = Costmap(cell_size=1.0, obstacle_height=0.5, inflation_radius=0.0) + cm.update(0.0, 0.0, 0.3) # below threshold + cm.update(5.0, 0.0, 1.0) # above threshold + blocked = _blocked_at_inflation(cm, 0.0) + assert blocked == {(5, 0)} + + def test_does_not_mutate_costmap(self) -> None: + cm = Costmap(cell_size=1.0, obstacle_height=0.1, inflation_radius=0.0) + cm.update(0.0, 0.0, 1.0) + assert cm.inflation_radius == 0.0 + _blocked_at_inflation(cm, 3.0) + assert cm.inflation_radius == 0.0 # unchanged + # Live costmap's own blocked_cells still reflects its own inflation + assert cm.blocked_cells() == {(0, 0)} + + def test_rejects_negative_inflation(self) -> None: + cm = self._cm_with_single_obstacle() + with pytest.raises(ValueError): + _blocked_at_inflation(cm, -0.5) + + +# ─── Stuck detection + escalation state machine ────────────────────────── + + +class TestStuckEscalation: + def _planner( + self, + *, + inflation_radius: float = 0.4, + stuck_seconds: float = 5.0, + progress_epsilon: float = 0.25, + stuck_shrink_factor: float = 0.5, + stuck_min_inflation: float = 0.0, + ) -> SimplePlanner: + """Build a SimplePlanner with just enough state to exercise the + progress/stuck logic, without the real Module machinery.""" + p = SimplePlanner.__new__(SimplePlanner) + p._costmap = Costmap( + cell_size=1.0, + obstacle_height=0.1, + inflation_radius=inflation_radius, + ) + + class _Cfg: + pass + + p.config = _Cfg() # type: ignore[assignment] + p.config.inflation_radius = inflation_radius + p.config.stuck_seconds = stuck_seconds + p.config.progress_epsilon = progress_epsilon + p.config.stuck_shrink_factor = stuck_shrink_factor + p.config.stuck_min_inflation = stuck_min_inflation + p._ref_goal_dist = float("inf") + p._last_progress_time = 0.0 + p._effective_inflation = inflation_radius + import threading as _th + + p._lock = _th.Lock() + return p + + @staticmethod + def _tick(p: SimplePlanner, dist: float, now: float) -> None: + """Run the progress/escalation block once with a synthetic clock.""" + cfg = p.config + with p._lock: + if dist < p._ref_goal_dist - cfg.progress_epsilon: + p._ref_goal_dist = dist + p._last_progress_time = now + # Inflation intentionally not restored — stays wherever + # the most recent escalation left it. + elif ( + now - p._last_progress_time >= cfg.stuck_seconds + and p._effective_inflation > cfg.stuck_min_inflation + ): + prev = p._effective_inflation + new = max(cfg.stuck_min_inflation, prev * cfg.stuck_shrink_factor) + if new < prev: + p._effective_inflation = new + p._last_progress_time = now + p._ref_goal_dist = dist + + def test_progress_refreshes_last_time(self) -> None: + p = self._planner() + self._tick(p, dist=10.0, now=0.0) + assert p._ref_goal_dist == 10.0 + self._tick(p, dist=9.0, now=1.0) + assert p._last_progress_time == 1.0 + assert p._ref_goal_dist == 9.0 + assert p._effective_inflation == 0.4 + + def test_tiny_progress_does_not_count(self) -> None: + p = self._planner(progress_epsilon=0.25) + self._tick(p, dist=10.0, now=0.0) + self._tick(p, dist=9.9, now=1.0) # only 0.1 closer; below epsilon + assert p._ref_goal_dist == 10.0 # unchanged + assert p._last_progress_time == 0.0 + + def test_escalation_shrinks_inflation(self) -> None: + p = self._planner(inflation_radius=0.4, stuck_seconds=5.0, stuck_shrink_factor=0.5) + self._tick(p, dist=10.0, now=0.0) + # Not stuck yet + self._tick(p, dist=10.0, now=4.9) + assert p._effective_inflation == 0.4 + # Stuck → first escalation + self._tick(p, dist=10.0, now=5.0) + assert p._effective_inflation == 0.2 + # Stuck again → second escalation (t = 5.0 + 5.0 = 10.0) + self._tick(p, dist=10.0, now=10.0) + assert p._effective_inflation == 0.1 + + def test_escalation_respects_floor(self) -> None: + p = self._planner( + inflation_radius=0.4, + stuck_seconds=1.0, + stuck_shrink_factor=0.5, + stuck_min_inflation=0.2, + ) + self._tick(p, dist=10.0, now=0.0) + self._tick(p, dist=10.0, now=1.0) + assert p._effective_inflation == 0.2 + # Can't shrink below min + self._tick(p, dist=10.0, now=2.0) + assert p._effective_inflation == 0.2 + self._tick(p, dist=10.0, now=3.0) + assert p._effective_inflation == 0.2 + + def test_cached_path_lookahead_tracks_robot_position(self) -> None: + # During a cooldown window, _publish_from_cached picks a + # waypoint from the cached path using the ROBOT's current pose + # (not where it was when the path was planned). + cached = [(x, 0.0) for x in (0.0, 1.0, 2.0, 3.0, 4.0, 5.0)] + # Robot started at (0,0), has now driven to (2,0) + wx, wy = SimplePlanner._lookahead(cached, 2.0, 0.0, 1.5) + # Closest index to robot is 2 (the (2,0) point). First point + # ≥ 1.5 m away from (2, 0) is (4, 0) (distance 2.0). + assert math.isclose(wx, 4.0) + assert math.isclose(wy, 0.0) + + def test_progress_after_escalation_keeps_shrunk_inflation(self) -> None: + # Once we shrink inflation to clear a tight spot, we DON'T bump + # it back up on subsequent progress — the escalated value stays + # in force until the next goal arrives. Prevents 4-s cycles of + # re-blocking → re-escalating through the same doorway. + p = self._planner(inflation_radius=0.4, stuck_seconds=1.0) + self._tick(p, dist=10.0, now=0.0) + self._tick(p, dist=10.0, now=1.0) # escalate → 0.2 + assert p._effective_inflation == 0.2 + self._tick(p, dist=9.0, now=1.5) # progress of 1.0 > epsilon + assert p._effective_inflation == 0.2 # stays shrunk + assert p._ref_goal_dist == 9.0 diff --git a/dimos/navigation/smart_nav/modules/tare_planner/tare_planner.py b/dimos/navigation/smart_nav/modules/tare_planner/tare_planner.py new file mode 100644 index 0000000000..5e73689084 --- /dev/null +++ b/dimos/navigation/smart_nav/modules/tare_planner/tare_planner.py @@ -0,0 +1,62 @@ +# 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. + +"""TarePlanner NativeModule: C++ frontier-based autonomous exploration planner. + +Ported from tare_planner. Uses sensor coverage planning and frontier detection +to autonomously explore unknown environments. +""" + +from __future__ import annotations + +from dimos.core.native_module import NativeModule, NativeModuleConfig +from dimos.core.stream import In, Out +from dimos.msgs.geometry_msgs.PointStamped import PointStamped +from dimos.msgs.nav_msgs.Odometry import Odometry +from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 + + +class TarePlannerConfig(NativeModuleConfig): + """Config for the TARE planner native module.""" + + cwd: str | None = "." + executable: str = "result/bin/tare_planner" + build_command: str | None = ( + "nix build github:dimensionalOS/dimos-module-tare-planner/v0.1.0 --no-write-lock-file" + ) + + # Exploration parameters + exploration_range: float = 20.0 + update_rate: float = 1.0 + sensor_range: float = 20.0 + + +class TarePlanner(NativeModule): + """TARE planner: frontier-based autonomous exploration. + + Maintains a coverage map and detects frontiers (boundaries between + explored and unexplored space). Plans exploration paths that maximize + information gain. Outputs waypoints for the local planner. + + Ports: + registered_scan (In[PointCloud2]): World-frame point cloud for coverage updates. + odometry (In[Odometry]): Vehicle state. + way_point (Out[PointStamped]): Exploration waypoint for local planner. + """ + + config: TarePlannerConfig + + registered_scan: In[PointCloud2] + odometry: In[Odometry] + way_point: Out[PointStamped] diff --git a/dimos/navigation/smart_nav/modules/tare_planner/test_tare_planner.py b/dimos/navigation/smart_nav/modules/tare_planner/test_tare_planner.py new file mode 100644 index 0000000000..81c1c01600 --- /dev/null +++ b/dimos/navigation/smart_nav/modules/tare_planner/test_tare_planner.py @@ -0,0 +1,89 @@ +# 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. + +"""Tests for TarePlanner NativeModule wrapper.""" + +from pathlib import Path + +import pytest + +from dimos.navigation.smart_nav.modules.tare_planner.tare_planner import ( + TarePlanner, + TarePlannerConfig, +) + + +class TestTarePlannerConfig: + """Test TarePlanner configuration.""" + + def test_default_config(self): + config = TarePlannerConfig() + assert config.exploration_range == 20.0 + assert config.update_rate == 1.0 + assert config.sensor_range == 20.0 + + def test_cli_args_generation(self): + config = TarePlannerConfig( + exploration_range=30.0, + update_rate=2.0, + ) + args = config.to_cli_args() + assert "--exploration_range" in args + assert "30.0" in args + assert "--update_rate" in args + assert "2.0" in args + + +class TestTarePlannerModule: + """Test TarePlanner module declaration.""" + + def test_ports_declared(self): + from typing import get_origin, get_type_hints + + from dimos.core.stream import In, Out + + hints = get_type_hints(TarePlanner) + in_ports = {k for k, v in hints.items() if get_origin(v) is In} + out_ports = {k for k, v in hints.items() if get_origin(v) is Out} + + assert "registered_scan" in in_ports + assert "odometry" in in_ports + assert "way_point" in out_ports + + +@pytest.mark.skipif( + not Path(__file__).resolve().parent.joinpath("result", "bin").exists(), + reason="Native binary not built (run nix build first)", +) +class TestPathResolution: + """Verify native module paths resolve to real filesystem locations.""" + + def _make(self): + return TarePlanner() + + def test_cwd_resolves_to_existing_directory(self): + m = self._make() + try: + assert Path(m.config.cwd).exists(), f"cwd does not exist: {m.config.cwd}" + assert Path(m.config.cwd).is_dir() + finally: + m.stop() + + def test_executable_exists(self): + m = self._make() + try: + exe = Path(m.config.executable) + assert exe.exists(), f"Binary not found: {exe}. Run nix build first." + finally: + m.stop() diff --git a/dimos/navigation/smart_nav/modules/terrain_analysis/terrain_analysis.py b/dimos/navigation/smart_nav/modules/terrain_analysis/terrain_analysis.py new file mode 100644 index 0000000000..115e06266a --- /dev/null +++ b/dimos/navigation/smart_nav/modules/terrain_analysis/terrain_analysis.py @@ -0,0 +1,159 @@ +# 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. + +"""TerrainAnalysis NativeModule: C++ terrain processing for obstacle detection. + +Ported from terrainAnalysis.cpp. Processes registered point clouds to produce +a terrain cost map with obstacle classification. +""" + +from __future__ import annotations + +from dimos.core.native_module import NativeModule, NativeModuleConfig +from dimos.core.stream import In, Out +from dimos.msgs.nav_msgs.Odometry import Odometry +from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 + + +class TerrainAnalysisConfig(NativeModuleConfig): + """Config for the terrain analysis native module. + + Fields with ``None`` default are omitted from the CLI, letting the + C++ binary use its own built-in default. + """ + + cwd: str | None = "." + executable: str = "result/bin/terrain_analysis" + build_command: str | None = ( + "nix build github:dimensionalOS/dimos-module-terrain-analysis/v0.1.1 --no-write-lock-file" + ) + # C++ binary uses camelCase CLI args (with VFOV all-caps). + cli_name_override: dict[str, str] = { + "sensor_range": "sensorRange", + "scan_voxel_size": "scanVoxelSize", + "terrain_voxel_size": "terrainVoxelSize", + "terrain_voxel_half_width": "terrainVoxelHalfWidth", + "obstacle_height_threshold": "obstacleHeightThre", + "ground_height_threshold": "groundHeightThre", + "vehicle_height": "vehicleHeight", + "min_relative_z": "minRelZ", + "max_relative_z": "maxRelZ", + "use_sorting": "useSorting", + "quantile_z": "quantileZ", + "decay_time": "decayTime", + "no_decay_distance": "noDecayDis", + "clearing_distance": "clearingDis", + "clear_dynamic_obstacles": "clearDyObs", + "no_data_obstacle": "noDataObstacle", + "no_data_block_skip_count": "noDataBlockSkipNum", + "min_block_point_count": "minBlockPointNum", + "voxel_point_update_threshold": "voxelPointUpdateThre", + "voxel_time_update_threshold": "voxelTimeUpdateThre", + "min_dynamic_obstacle_distance": "minDyObsDis", + "abs_dynamic_obstacle_relative_z_threshold": "absDyObsRelZThre", + "min_dynamic_obstacle_vfov": "minDyObsVFOV", + "max_dynamic_obstacle_vfov": "maxDyObsVFOV", + "min_dynamic_obstacle_point_count": "minDyObsPointNum", + "min_out_of_fov_point_count": "minOutOfFovPointNum", + "consider_drop": "considerDrop", + "limit_ground_lift": "limitGroundLift", + "max_ground_lift": "maxGroundLift", + "distance_ratio_z": "disRatioZ", + } + + # Maximum range of lidar sensor used for terrain analysis (m). + sensor_range: float = 20.0 + # Voxel size for downsampling the input registered scan (m). + scan_voxel_size: float = 0.05 + # Terrain grid cell size (m). + terrain_voxel_size: float = 1.0 + # Terrain grid radius in cells (full grid is 2*N+1 on a side). + terrain_voxel_half_width: int = 10 + + # Points higher than this above ground are classified as obstacles (m). + obstacle_height_threshold: float = 0.15 + # Points lower than this are considered ground in cost-map mode (m). + ground_height_threshold: float = 0.1 + # Ignore points above this height relative to the vehicle (m). + vehicle_height: float | None = None + # Height-band filter: minimum z relative to robot (m). + min_relative_z: float | None = None + # Height-band filter: maximum z relative to robot (m). + max_relative_z: float | None = None + + # Use quantile-based sorting for ground height estimation. + use_sorting: bool | None = None + # Quantile of z-values used to estimate ground height (0–1). + quantile_z: float | None = None + + # How long terrain points persist before expiring (s). + decay_time: float | None = None + # Radius around robot where points never decay (m). + no_decay_distance: float | None = None + # Dynamic clearing distance — points beyond this from new obs are removed (m). + clearing_distance: float | None = None + # Whether to actively clear dynamic obstacles. + clear_dynamic_obstacles: bool | None = None + # Treat unseen (no-data) voxels as obstacles. + no_data_obstacle: bool | None = None + # Number of no-data blocks to skip before treating as obstacle. + no_data_block_skip_count: int | None = None + # Minimum points per terrain block for valid classification. + min_block_point_count: int | None = None + + # Reprocess a voxel after this many new points accumulate. + voxel_point_update_threshold: int | None = None + # Cull a voxel after this many seconds since last update (s). + voxel_time_update_threshold: float | None = None + + # Minimum distance from sensor for dynamic obstacle detection (m). + min_dynamic_obstacle_distance: float | None = None + # Absolute z-threshold for dynamic obstacle classification (m). + abs_dynamic_obstacle_relative_z_threshold: float | None = None + # Minimum vertical FOV angle for dynamic obstacle detection (deg). + min_dynamic_obstacle_vfov: float | None = None + # Maximum vertical FOV angle for dynamic obstacle detection (deg). + max_dynamic_obstacle_vfov: float | None = None + # Minimum number of points to qualify as a dynamic obstacle. + min_dynamic_obstacle_point_count: int | None = None + # Minimum out-of-FOV points before classifying as dynamic. + min_out_of_fov_point_count: int | None = None + + # Whether to consider terrain drops (negative slopes). + consider_drop: bool | None = None + # Limit how much the estimated ground plane can lift between frames. + limit_ground_lift: bool | None = None + # Maximum ground plane lift per frame (m). + max_ground_lift: float | None = None + # Distance-to-z ratio used for slope-based point filtering. + distance_ratio_z: float | None = None + + +class TerrainAnalysis(NativeModule): + """Terrain analysis native module for obstacle cost map generation. + + Processes registered point clouds from SLAM to classify terrain as + ground/obstacle, outputting a cost-annotated point cloud. + + Ports: + registered_scan (In[PointCloud2]): World-frame registered point cloud. + odometry (In[Odometry]): Vehicle state for local frame reference. + terrain_map (Out[PointCloud2]): Terrain cost map (intensity=obstacle cost). + """ + + config: TerrainAnalysisConfig + + registered_scan: In[PointCloud2] + odometry: In[Odometry] + terrain_map: Out[PointCloud2] diff --git a/dimos/navigation/smart_nav/modules/terrain_analysis/test_terrain_analysis.py b/dimos/navigation/smart_nav/modules/terrain_analysis/test_terrain_analysis.py new file mode 100644 index 0000000000..af3f51bb2b --- /dev/null +++ b/dimos/navigation/smart_nav/modules/terrain_analysis/test_terrain_analysis.py @@ -0,0 +1,92 @@ +# 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. + +"""Tests for TerrainAnalysis NativeModule wrapper.""" + +from pathlib import Path + +import pytest + +from dimos.navigation.smart_nav.modules.terrain_analysis.terrain_analysis import ( + TerrainAnalysis, + TerrainAnalysisConfig, +) + + +class TestTerrainAnalysisConfig: + """Test TerrainAnalysis configuration.""" + + def test_default_config(self): + """Default config should have sensible values.""" + config = TerrainAnalysisConfig() + assert config.obstacle_height_threshold == 0.15 + assert config.scan_voxel_size == 0.05 + assert config.sensor_range == 20.0 + + def test_cli_args_generation(self): + """Config should generate CLI args for the native binary.""" + config = TerrainAnalysisConfig( + obstacle_height_threshold=0.2, + scan_voxel_size=0.1, + ) + args = config.to_cli_args() + assert "--obstacleHeightThre" in args + assert "0.2" in args + assert "--scanVoxelSize" in args + assert "0.1" in args + + +class TestTerrainAnalysisModule: + """Test TerrainAnalysis module declaration.""" + + def test_ports_declared(self): + """Module should declare the expected In/Out ports.""" + from typing import get_origin, get_type_hints + + from dimos.core.stream import In, Out + + hints = get_type_hints(TerrainAnalysis) + in_ports = {k for k, v in hints.items() if get_origin(v) is In} + out_ports = {k for k, v in hints.items() if get_origin(v) is Out} + + assert "registered_scan" in in_ports + assert "odometry" in in_ports + assert "terrain_map" in out_ports + + +@pytest.mark.skipif( + not Path(__file__).resolve().parent.joinpath("result", "bin").exists(), + reason="Native binary not built (run nix build first)", +) +class TestPathResolution: + """Verify native module paths resolve to real filesystem locations.""" + + def _make(self): + return TerrainAnalysis() + + def test_cwd_resolves_to_existing_directory(self): + m = self._make() + try: + assert Path(m.config.cwd).exists(), f"cwd does not exist: {m.config.cwd}" + assert Path(m.config.cwd).is_dir() + finally: + m.stop() + + def test_executable_exists(self): + m = self._make() + try: + exe = Path(m.config.executable) + assert exe.exists(), f"Binary not found: {exe}. Run nix build first." + finally: + m.stop() diff --git a/dimos/navigation/smart_nav/modules/terrain_map_ext/terrain_map_ext.py b/dimos/navigation/smart_nav/modules/terrain_map_ext/terrain_map_ext.py new file mode 100644 index 0000000000..ba0b7ef7cb --- /dev/null +++ b/dimos/navigation/smart_nav/modules/terrain_map_ext/terrain_map_ext.py @@ -0,0 +1,186 @@ +# 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. + +"""TerrainMapExt: extended persistent terrain map with time decay. + +Accumulates terrain_map messages from TerrainAnalysis into a larger +rolling voxel grid (~40m radius, 2m voxels, 4s decay). Publishes +the accumulated map as terrain_map_ext for visualization and planning. + +Port of terrain_analysis_ext from the original ROS2 codebase, simplified +to Python using numpy voxel hashing. +""" + +from __future__ import annotations + +import threading +import time +from typing import Any + +import numpy as np + +from dimos.core.core import rpc +from dimos.core.module import Module, ModuleConfig +from dimos.core.stream import In, Out +from dimos.msgs.nav_msgs.Odometry import Odometry +from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 + + +class TerrainMapExtConfig(ModuleConfig): + """Config for extended terrain map.""" + + voxel_size: float = 0.4 # meters per voxel (coarser than local) + decay_time: float = 8.0 # seconds before points expire + publish_rate: float = 2.0 # Hz + max_range: float = 40.0 # max distance from robot to keep + + +class TerrainMapExt(Module): + """Extended terrain map with time-decayed voxel accumulation. + + Subscribes to terrain_map (local) and accumulates into a persistent + map that covers a larger area with slower decay. + + Ports: + terrain_map (In[PointCloud2]): Local terrain from TerrainAnalysis. + odometry (In[Odometry]): Vehicle pose for range culling. + terrain_map_ext (Out[PointCloud2]): Extended accumulated terrain. + """ + + config: TerrainMapExtConfig + + terrain_map: In[PointCloud2] + odometry: In[Odometry] + terrain_map_ext: Out[PointCloud2] + + def __init__(self, **kwargs) -> None: # type: ignore[no-untyped-def] + super().__init__(**kwargs) + self._lock = threading.Lock() + self._running = False + self._thread: threading.Thread | None = None + # Voxel storage: key=(ix,iy,iz) -> (x, y, z, intensity, timestamp) + self._voxels: dict[tuple[int, int, int], tuple[float, float, float, float, float]] = {} + # Reverse index: (ix,iy) -> set of iz values present in _voxels + self._column_index: dict[tuple[int, int], set[int]] = {} + self._robot_x = 0.0 + self._robot_y = 0.0 + + def __getstate__(self) -> dict[str, Any]: + s: dict[str, Any] = super().__getstate__() # type: ignore[no-untyped-call] + for k in ("_lock", "_thread", "_voxels", "_column_index"): + s.pop(k, None) + return s + + def __setstate__(self, s: dict[str, Any]) -> None: + super().__setstate__(s) + self._lock = threading.Lock() + self._thread = None + self._voxels = {} + self._column_index = {} + + @rpc + def start(self) -> None: + self.terrain_map.subscribe(self._on_terrain) + self.odometry.subscribe(self._on_odom) + self._running = True + self._thread = threading.Thread(target=self._publish_loop, daemon=True) + self._thread.start() + + @rpc + def stop(self) -> None: + self._running = False + if self._thread: + self._thread.join(timeout=3.0) + super().stop() + + def _on_odom(self, msg: Odometry) -> None: + with self._lock: + self._robot_x = msg.pose.position.x + self._robot_y = msg.pose.position.y + + def _on_terrain(self, cloud: PointCloud2) -> None: + points, _ = cloud.as_numpy() + if len(points) == 0: + return + + vs = self.config.voxel_size + now = time.time() + + # Vectorized voxel index computation + indices = np.floor(points[:, :3] / vs).astype(int) + + with self._lock: + # Z-column clearing: for each observed (ix, iy) column, remove + # all existing voxels so that disappeared obstacles don't persist + # as phantoms until time-decay. Uses the reverse index for O(1) + # per-column lookup instead of scanning the full voxel dict. + observed_columns: set[tuple[int, int]] = set() + for i in range(len(indices)): + observed_columns.add((int(indices[i, 0]), int(indices[i, 1]))) + + for column in observed_columns: + iz_set = self._column_index.pop(column, None) + if iz_set: + for iz in iz_set: + self._voxels.pop((*column, iz), None) + + # Insert fresh observations and rebuild column index entries + for i in range(len(indices)): + ix, iy, iz = int(indices[i, 0]), int(indices[i, 1]), int(indices[i, 2]) + x, y, z = float(points[i, 0]), float(points[i, 1]), float(points[i, 2]) + self._voxels[(ix, iy, iz)] = (x, y, z, 0.0, now) + col = (ix, iy) + if col in self._column_index: + self._column_index[col].add(iz) + else: + self._column_index[col] = {iz} + + def _publish_loop(self) -> None: + dt = 1.0 / self.config.publish_rate + while self._running: + t0 = time.monotonic() + now = time.time() + decay = self.config.decay_time + max_r2 = self.config.max_range**2 + + with self._lock: + rx, ry = self._robot_x, self._robot_y + # Expire old voxels and range-cull + expired = [] + pts = [] + for k, (x, y, z, _intensity, ts) in self._voxels.items(): + if now - ts > decay: + expired.append(k) + elif (x - rx) ** 2 + (y - ry) ** 2 > max_r2: + expired.append(k) + else: + pts.append([x, y, z]) + for k in expired: + del self._voxels[k] + col = (k[0], k[1]) + iz_set = self._column_index.get(col) + if iz_set is not None: + iz_set.discard(k[2]) + if not iz_set: + del self._column_index[col] + + if pts: + arr = np.array(pts, dtype=np.float32) + self.terrain_map_ext.publish( + PointCloud2.from_numpy(arr, frame_id="map", timestamp=now) + ) + + elapsed = time.monotonic() - t0 + if elapsed < dt: + time.sleep(dt - elapsed) diff --git a/dimos/navigation/smart_nav/modules/tui_control/test_tui_control.py b/dimos/navigation/smart_nav/modules/tui_control/test_tui_control.py new file mode 100644 index 0000000000..da17d5d58d --- /dev/null +++ b/dimos/navigation/smart_nav/modules/tui_control/test_tui_control.py @@ -0,0 +1,160 @@ +# 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. + +"""Tests for TUIControlModule.""" + +import pytest + +from dimos.navigation.smart_nav.modules.tui_control.tui_control import TUIControlModule + + +class _MockTransport: + """Lightweight mock transport that captures published messages.""" + + def __init__(self): + self._messages = [] + self._subscribers = [] + + def publish(self, msg): + self._messages.append(msg) + for cb in self._subscribers: + cb(msg) + + def broadcast(self, _stream, msg): + self.publish(msg) + + def subscribe(self, cb): + self._subscribers.append(cb) + + def unsub(): + self._subscribers.remove(cb) + + return unsub + + def stop(self): + pass + + +class TestTUIControl: + """Test TUI controller key handling and output.""" + + @pytest.fixture(autouse=True) + def _create_module(self): + self.module = TUIControlModule(max_speed=2.0, max_yaw_rate=1.5) + yield + self.module.stop() + + def test_initial_state_zero(self): + """All velocities should start at zero.""" + module = self.module + assert module._fwd == 0.0 + assert module._left == 0.0 + assert module._yaw == 0.0 + + def test_forward_key(self): + """'w' key should set forward motion.""" + module = self.module + module._handle_key("w") + assert module._fwd == 1.0 + assert module._left == 0.0 + assert module._yaw == 0.0 + + def test_backward_key(self): + """'s' key should set backward motion.""" + module = self.module + module._handle_key("s") + assert module._fwd == -1.0 + + def test_strafe_left_key(self): + """'a' key should set left strafe.""" + module = self.module + module._handle_key("a") + assert module._left == 1.0 + assert module._fwd == 0.0 + + def test_strafe_right_key(self): + """'d' key should set right strafe.""" + module = self.module + module._handle_key("d") + assert module._left == -1.0 + + def test_rotate_left_key(self): + """'q' key should set left rotation.""" + module = self.module + module._handle_key("q") + assert module._yaw == 1.0 + assert module._fwd == 0.0 + assert module._left == 0.0 + + def test_rotate_right_key(self): + """'e' key should set right rotation.""" + module = self.module + module._handle_key("e") + assert module._yaw == -1.0 + + def test_stop_key(self): + """Space should stop all motion.""" + module = self.module + module._handle_key("w") + assert module._fwd == 1.0 + module._handle_key(" ") + assert module._fwd == 0.0 + assert module._left == 0.0 + assert module._yaw == 0.0 + + def test_speed_increase(self): + """'+' key should increase speed scale.""" + module = self.module + # First decrease from the default (1.0) so there is room to increase + module._handle_key("-") + lowered_scale = module._speed_scale + module._handle_key("+") + assert module._speed_scale > lowered_scale + + def test_speed_decrease(self): + """'-' key should decrease speed scale.""" + module = self.module + module._handle_key("-") + assert module._speed_scale < 1.0 + + def test_speed_scale_bounds(self): + """Speed scale should be bounded [0.1, 1.0].""" + module = self.module + # Try to go below minimum + for _ in range(20): + module._handle_key("-") + assert module._speed_scale >= 0.1 + + # Try to go above maximum + for _ in range(20): + module._handle_key("+") + assert module._speed_scale <= 1.0 + + def test_waypoint_publish(self): + """send_waypoint should publish a PointStamped message.""" + module = self.module + + # Wire a mock transport onto the way_point output port + wp_transport = _MockTransport() + module.way_point._transport = wp_transport + + results = [] + wp_transport.subscribe(lambda msg: results.append(msg)) + + module.send_waypoint(5.0, 10.0, 0.0) + + assert len(results) == 1 + assert results[0].x == 5.0 + assert results[0].y == 10.0 + assert results[0].frame_id == "map" diff --git a/dimos/navigation/smart_nav/modules/tui_control/tui_control.py b/dimos/navigation/smart_nav/modules/tui_control/tui_control.py new file mode 100644 index 0000000000..5fc2d5e7d2 --- /dev/null +++ b/dimos/navigation/smart_nav/modules/tui_control/tui_control.py @@ -0,0 +1,220 @@ +# 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. + +"""TUIControlModule: terminal-based teleop controller. + +Provides arrow-key control for the vehicle and mode switching. +""" + +from __future__ import annotations + +import threading +import time +from typing import Any + +from dimos.core.core import rpc +from dimos.core.module import Module, ModuleConfig +from dimos.core.stream import Out +from dimos.msgs.geometry_msgs.PointStamped import PointStamped +from dimos.msgs.geometry_msgs.Twist import Twist + + +class TUIControlConfig(ModuleConfig): + """Configuration for the TUI controller.""" + + max_speed: float = 2.0 + max_yaw_rate: float = 1.5 + speed_step: float = 0.1 + publish_rate: float = 20.0 # Hz + + +class TUIControlModule(Module): + """Terminal-based teleop controller with arrow key input. + + Ports: + cmd_vel (Out[Twist]): Velocity commands from keyboard. + way_point (Out[PointStamped]): Waypoint commands (typed coordinates). + """ + + config: TUIControlConfig + + cmd_vel: Out[Twist] + way_point: Out[PointStamped] + + def __init__(self, **kwargs) -> None: # type: ignore[no-untyped-def] + super().__init__(**kwargs) + self._lock = threading.Lock() + self._fwd = 0.0 + self._left = 0.0 + self._yaw = 0.0 + self._speed_scale = 1.0 + self._running = False + self._publish_thread: threading.Thread | None = None + self._input_thread: threading.Thread | None = None + + def __getstate__(self) -> dict[str, Any]: + state: dict[str, Any] = super().__getstate__() # type: ignore[no-untyped-call] + state.pop("_lock", None) + state.pop("_publish_thread", None) + state.pop("_input_thread", None) + return state + + def __setstate__(self, state: dict[str, Any]) -> None: + super().__setstate__(state) + self._lock = threading.Lock() + self._publish_thread = None + self._input_thread = None + + @rpc + def start(self) -> None: + self._running = True + self._publish_thread = threading.Thread(target=self._publish_loop, daemon=True) + self._publish_thread.start() + self._input_thread = threading.Thread(target=self._input_loop, daemon=True) + self._input_thread.start() + + @rpc + def stop(self) -> None: + self._running = False + if self._publish_thread: + self._publish_thread.join(timeout=2.0) + super().stop() + + def _publish_loop(self) -> None: + """Publish current velocity at fixed rate.""" + dt = 1.0 / self.config.publish_rate + while self._running: + with self._lock: + fwd = self._fwd + left = self._left + yaw = self._yaw + scale = self._speed_scale + twist = Twist( + linear=[ + fwd * scale * self.config.max_speed, + left * scale * self.config.max_speed, + 0.0, + ], + angular=[ + 0.0, + 0.0, + yaw * scale * self.config.max_yaw_rate, + ], + ) + self.cmd_vel.publish(twist) + time.sleep(dt) + + def _input_loop(self) -> None: + """Read keyboard input for teleop control. + + Controls: + w/up: forward, s/down: backward + a/left: strafe left, d/right: strafe right + q: rotate left, e: rotate right + +/-: increase/decrease speed + space: stop + Ctrl+C: quit + """ + try: + import sys + import termios + import tty + + fd = sys.stdin.fileno() + old_settings = termios.tcgetattr(fd) + + print("\n--- SmartNav TUI Controller ---") + print("w/s: fwd/back | a/d: strafe | q/e: rotate") + print("+/-: speed | g: waypoint | space: stop") + print("Ctrl+C: quit") + print("-------------------------------\n") + + try: + tty.setraw(fd) + while self._running: + ch = sys.stdin.read(1) + if ch == "\x03": # Ctrl+C + self._running = False + break + self._handle_key(ch) + finally: + termios.tcsetattr(fd, termios.TCSADRAIN, old_settings) + except Exception: + # Not a terminal (e.g., running in a worker process, piped stdin, etc.) + while self._running: + time.sleep(1.0) + + def _handle_key(self, ch: str) -> None: + """Process a single keypress.""" + with self._lock: + if ch in ("w", "W"): + self._fwd = 1.0 + self._left = 0.0 + self._yaw = 0.0 + elif ch in ("s", "S"): + self._fwd = -1.0 + self._left = 0.0 + self._yaw = 0.0 + elif ch in ("a", "A"): + self._fwd = 0.0 + self._left = 1.0 + self._yaw = 0.0 + elif ch in ("d", "D"): + self._fwd = 0.0 + self._left = -1.0 + self._yaw = 0.0 + elif ch in ("q", "Q"): + self._fwd = 0.0 + self._left = 0.0 + self._yaw = 1.0 + elif ch in ("e", "E"): + self._fwd = 0.0 + self._left = 0.0 + self._yaw = -1.0 + elif ch == " ": + self._fwd = 0.0 + self._left = 0.0 + self._yaw = 0.0 + elif ch == "+" or ch == "=": + self._speed_scale = min(self._speed_scale + 0.1, 1.0) + elif ch == "-": + self._speed_scale = max(self._speed_scale - 0.1, 0.1) + if ch == "\x1b": + import sys + + seq1 = sys.stdin.read(1) + if seq1 == "[": + seq2 = sys.stdin.read(1) + with self._lock: + if seq2 == "A": # Up + self._fwd = 1.0 + self._left = 0.0 + self._yaw = 0.0 + elif seq2 == "B": # Down + self._fwd = -1.0 + self._left = 0.0 + self._yaw = 0.0 + elif seq2 == "C": # Right + self._fwd = 0.0 + self._left = -1.0 + self._yaw = 0.0 + elif seq2 == "D": # Left + self._fwd = 0.0 + self._left = 1.0 + self._yaw = 0.0 + + def send_waypoint(self, x: float, y: float, z: float = 0.0) -> None: + """Programmatically send a waypoint.""" + wp = PointStamped(x=x, y=y, z=z, frame_id="map") + self.way_point.publish(wp) diff --git a/dimos/navigation/smart_nav/tests/test_cross_wall_planning.py b/dimos/navigation/smart_nav/tests/test_cross_wall_planning.py new file mode 100644 index 0000000000..33e43618d5 --- /dev/null +++ b/dimos/navigation/smart_nav/tests/test_cross_wall_planning.py @@ -0,0 +1,275 @@ +# 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. + +"""E2E integration test: cross-wall planning through Unity sim. + +Verifies that the FAR planner routes through doorways instead of through walls. +Uses the full navigation stack (same blueprint as unitree_g1_nav_sim) and +tracks the robot position via odometry to verify goal-reaching. + +Test sequence: + p0 (-0.3, 2.5) — open corridor speed test + p1 (11.2, -1.8) — navigate with furniture + p2 ( 3.3, -4.9) — intermediate waypoint near doorway (explore lower area) + p3 ( 7.0, -5.0) — through the doorway into the right room + p4 (11.3, -5.6) — explore right room + p4→p1 (11.2, -1.8) — CRITICAL: must route through doorway, NOT wall +""" + +from __future__ import annotations + +import math +import os +from pathlib import Path +import threading +import time + +import lcm as lcmlib +import pytest + +os.environ.setdefault("DISPLAY", ":1") + +ODOM_TOPIC = "/odometry#nav_msgs.Odometry" +GOAL_TOPIC = "/clicked_point#geometry_msgs.PointStamped" + +# Waypoint definitions: (name, x, y, z, timeout_sec, reach_threshold_m) +WAYPOINTS = [ + ("p0", -0.3, 2.5, 0.0, 30, 1.5), + ("p1", 11.2, -1.8, 0.0, 120, 2.0), + ("p2", 3.3, -4.9, 0.0, 120, 2.0), + ("p3", 7.0, -5.0, 0.0, 120, 2.0), # Through doorway into right room + ("p4", 11.3, -5.6, 0.0, 120, 2.0), # Deep in right room + ("p4→p1", 11.2, -1.8, 0.0, 180, 2.0), # CRITICAL: cross-wall back +] + +WARMUP_SEC = 15.0 # seconds to let nav stack build terrain + visibility graph + + +def _distance(x1: float, y1: float, x2: float, y2: float) -> float: + return math.sqrt((x1 - x2) ** 2 + (y1 - y2) ** 2) + + +pytestmark = [pytest.mark.slow] + + +class TestCrossWallPlanning: + """E2E integration test: cross-wall routing through Unity sim.""" + + def test_cross_wall_sequence(self) -> None: + from dimos.core.coordination.blueprints import autoconnect + from dimos.core.coordination.module_coordinator import ModuleCoordinator + from dimos.core.global_config import global_config + from dimos.msgs.geometry_msgs.PointStamped import PointStamped + from dimos.msgs.nav_msgs.Odometry import Odometry + from dimos.navigation.smart_nav.main import smart_nav, smart_nav_rerun_config + from dimos.robot.unitree.g1.g1_rerun import ( + g1_static_robot, + ) + from dimos.simulation.unity.module import UnityBridgeModule + from dimos.visualization.vis_module import vis_module + + # -- Clear stale nav paths from previous runs ------------------------- + paths_dir = Path(__file__).resolve().parents[3] / "data" / "smart_nav_paths" + if paths_dir.exists(): + for f in paths_dir.iterdir(): + f.unlink(missing_ok=True) + + # -- Build blueprint (same composition as unitree_g1_nav_sim) ---------- + blueprint = ( + autoconnect( + UnityBridgeModule.blueprint( + unity_binary="", + unity_scene="home_building_1", + vehicle_height=1.24, + ), + smart_nav( + terrain_analysis={ + "obstacle_height_threshold": 0.1, + "ground_height_threshold": 0.05, + "max_relative_z": 0.3, + "min_relative_z": -1.5, + }, + local_planner={ + "max_speed": 2.0, + "autonomy_speed": 2.0, + "obstacle_height_threshold": 0.1, + "max_relative_z": 0.3, + "min_relative_z": -1.5, + "freeze_ang": 180.0, + "two_way_drive": False, + }, + path_follower={ + "max_speed": 2.0, + "autonomy_speed": 2.0, + "max_acceleration": 4.0, + "slow_down_distance_threshold": 0.5, + "omni_dir_goal_threshold": 0.5, + "two_way_drive": False, + }, + far_planner={ + "sensor_range": 15.0, + "is_static_env": True, + "converge_dist": 1.5, + }, + ), + vis_module( + viewer_backend=global_config.viewer, + rerun_config=smart_nav_rerun_config( + { + "blueprint": UnityBridgeModule.rerun_blueprint, + "visual_override": { + "world/camera_info": UnityBridgeModule.rerun_suppress_camera_info, + }, + "static": { + "world/color_image": UnityBridgeModule.rerun_static_pinhole, + "world/tf/robot": g1_static_robot, + }, + } + ), + ), + ) + .remappings( + [ + (UnityBridgeModule, "terrain_map", "terrain_map_ext"), + ] + ) + .global_config(n_workers=8, robot_model="unitree_g1", simulation=True) + ) + + coordinator = ModuleCoordinator.build(blueprint) + + # -- Odom tracking via LCM ------------------------------------------- + lock = threading.Lock() + odom_count = 0 + robot_x = 0.0 + robot_y = 0.0 + + lcm_url = os.environ.get("LCM_DEFAULT_URL", "udpm://239.255.76.67:7667?ttl=0") + lc = lcmlib.LCM(lcm_url) + + def _odom_handler(channel: str, data: bytes) -> None: + nonlocal odom_count, robot_x, robot_y + msg = Odometry.lcm_decode(data) + with lock: + odom_count += 1 + robot_x = msg.x + robot_y = msg.y + + lc.subscribe(ODOM_TOPIC, _odom_handler) + + # LCM receive thread + lcm_running = True + + def _lcm_loop() -> None: + while lcm_running: + try: + lc.handle_timeout(100) + except Exception: + pass + + lcm_thread = threading.Thread(target=_lcm_loop, daemon=True) + lcm_thread.start() + + try: + print("[test] Blueprint started, waiting for odom…") + + # Wait for first odom (sim is up) + deadline = time.monotonic() + 60.0 + while time.monotonic() < deadline: + with lock: + if odom_count > 0: + break + time.sleep(0.5) + + with lock: + assert odom_count > 0, "No odometry received after 60s — sim not running?" + + print(f"[test] Odom online. Robot at ({robot_x:.2f}, {robot_y:.2f})") + + # Let the nav stack warm up (terrain analysis, PGO, FAR visibility graph) + print(f"[test] Warming up for {WARMUP_SEC}s…") + time.sleep(WARMUP_SEC) + with lock: + print( + f"[test] Warmup complete. odom_count={odom_count}, " + f"pos=({robot_x:.2f}, {robot_y:.2f})" + ) + + # -- Navigate waypoint sequence ----------------------------------- + for name, gx, gy, gz, timeout_sec, threshold in WAYPOINTS: + with lock: + sx, sy = robot_x, robot_y + + print( + f"\n[test] === {name}: goal ({gx}, {gy}) | " + f"robot ({sx:.2f}, {sy:.2f}) | " + f"dist={_distance(sx, sy, gx, gy):.2f}m | " + f"budget={timeout_sec}s ===" + ) + + # Publish goal + goal = PointStamped(x=gx, y=gy, z=gz, ts=time.time(), frame_id="map") + lc.publish(GOAL_TOPIC, goal.lcm_encode()) + print(f"[test] Goal published for {name}") + + # Wait for robot to reach goal or timeout + t0 = time.monotonic() + reached = False + last_print = t0 + cx, cy = sx, sy + dist = _distance(cx, cy, gx, gy) + while True: + with lock: + cx, cy = robot_x, robot_y + + dist = _distance(cx, cy, gx, gy) + now = time.monotonic() + elapsed = now - t0 + + # Progress log every 5 seconds + if now - last_print >= 5.0: + print( + f"[test] {name}: {elapsed:.0f}s/{timeout_sec}s | " + f"pos ({cx:.2f}, {cy:.2f}) | dist={dist:.2f}m" + ) + last_print = now + + if dist <= threshold: + reached = True + print( + f"[test] ✓ {name}: reached in {elapsed:.1f}s " + f"(dist={dist:.2f}m ≤ {threshold}m)" + ) + break + + if elapsed >= timeout_sec: + print( + f"[test] ✗ {name}: NOT reached after {elapsed:.1f}s " + f"(dist={dist:.2f}m > {threshold}m)" + ) + break + + time.sleep(0.1) + + assert reached, ( + f"{name}: robot did not reach ({gx}, {gy}) within {timeout_sec}s. " + f"Final pos=({cx:.2f}, {cy:.2f}), dist={dist:.2f}m" + ) + + finally: + print("\n[test] Stopping blueprint…") + lcm_running = False + lcm_thread.join(timeout=3) + coordinator.stop() + print("[test] Done.") diff --git a/dimos/navigation/smart_nav/tests/test_cross_wall_planning_simple.py b/dimos/navigation/smart_nav/tests/test_cross_wall_planning_simple.py new file mode 100644 index 0000000000..771b98de00 --- /dev/null +++ b/dimos/navigation/smart_nav/tests/test_cross_wall_planning_simple.py @@ -0,0 +1,277 @@ +# 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. + +"""E2E integration test: cross-wall planning using SimplePlanner. + +Mirrors ``test_cross_wall_planning.py`` but swaps FarPlanner for +SimplePlanner (grid A*). Same blueprint, same waypoint sequence, same +success thresholds — this is the apples-to-apples comparison to see +whether the simple planner can route through doorways. +""" + +from __future__ import annotations + +import math +import os +from pathlib import Path +import threading +import time + +import lcm as lcmlib +import pytest + +os.environ.setdefault("DISPLAY", ":1") + +ODOM_TOPIC = "/odometry#nav_msgs.Odometry" +GOAL_TOPIC = "/clicked_point#geometry_msgs.PointStamped" + +# Waypoint definitions: (name, x, y, z, timeout_sec, reach_threshold_m) +WAYPOINTS = [ + ("p0", -0.3, 2.5, 0.0, 30, 1.5), + ("p1", 11.2, -1.8, 0.0, 120, 2.0), + ("p2", 3.3, -4.9, 0.0, 120, 2.0), + ("p3", 7.0, -5.0, 0.0, 120, 2.0), + ("p4", 11.3, -5.6, 0.0, 120, 2.0), + ("p4→p1", 11.2, -1.8, 0.0, 180, 2.0), +] + +WARMUP_SEC = 15.0 + + +def _distance(x1: float, y1: float, x2: float, y2: float) -> float: + return math.sqrt((x1 - x2) ** 2 + (y1 - y2) ** 2) + + +pytestmark = [pytest.mark.slow] + + +class TestCrossWallPlanningSimple: + """E2E: cross-wall routing with SimplePlanner (A* on 2D costmap).""" + + def test_cross_wall_sequence_simple(self) -> None: + from dimos.core.coordination.blueprints import autoconnect + from dimos.core.coordination.module_coordinator import ModuleCoordinator + from dimos.msgs.geometry_msgs.PointStamped import PointStamped + from dimos.msgs.nav_msgs.Odometry import Odometry + from dimos.navigation.smart_nav.main import smart_nav + from dimos.simulation.unity.module import UnityBridgeModule + + paths_dir = Path(__file__).resolve().parents[3] / "data" / "smart_nav_paths" + if paths_dir.exists(): + for f in paths_dir.iterdir(): + f.unlink(missing_ok=True) + + blueprint = ( + autoconnect( + UnityBridgeModule.blueprint( + unity_binary="", + unity_scene="home_building_1", + vehicle_height=1.24, + ), + smart_nav( + use_simple_planner=True, + terrain_analysis={ + "obstacle_height_threshold": 0.1, + "ground_height_threshold": 0.05, + "max_relative_z": 0.3, + "min_relative_z": -1.5, + }, + local_planner={ + "max_speed": 2.0, + "autonomy_speed": 2.0, + "obstacle_height_threshold": 0.1, + "max_relative_z": 0.3, + "min_relative_z": -1.5, + "freeze_ang": 180.0, + "two_way_drive": False, + }, + path_follower={ + "max_speed": 2.0, + "autonomy_speed": 2.0, + "max_acceleration": 4.0, + "slow_down_distance_threshold": 0.5, + "omni_dir_goal_threshold": 0.5, + "two_way_drive": False, + }, + simple_planner={ + "cell_size": 0.3, + "obstacle_height_threshold": 0.15, + "inflation_radius": 0.7, + "lookahead_distance": 2.0, + "replan_rate": 5.0, + # Tighten stuck-detection for the test so doorways + # that the wider inflation blocks get opened up + # within a few seconds of non-progress. + "stuck_seconds": 4.0, + "stuck_shrink_factor": 0.5, + }, + ), + ) + .remappings( + [ + (UnityBridgeModule, "terrain_map", "terrain_map_ext"), + ] + ) + .global_config(n_workers=8, robot_model="unitree_g1", simulation=True) + ) + + coordinator = ModuleCoordinator.build(blueprint) + + lock = threading.Lock() + odom_count = 0 + robot_x = 0.0 + robot_y = 0.0 + robot_z = 0.0 + max_z = 0.0 + # If the robot's z ever exceeds this, it has gone through the + # ceiling / climbed on top of geometry — navigation is broken. + # The sim's terrain-z estimate drifts ~0.3 m near walls (wall + # points within the 0.5 m terrain sampling radius pull the ground + # estimate upward), so this must tolerate vehicle_height (1.24 m) + # + terrain drift while still catching through-the-roof failures + # (roof is at ~3 m+). + MAX_ALLOWED_Z = 2.0 + + lcm_url = os.environ.get("LCM_DEFAULT_URL", "udpm://239.255.76.67:7667?ttl=0") + lc = lcmlib.LCM(lcm_url) + + def _odom_handler(channel: str, data: bytes) -> None: + nonlocal odom_count, robot_x, robot_y, robot_z, max_z + msg = Odometry.lcm_decode(data) + with lock: + odom_count += 1 + robot_x = msg.x + robot_y = msg.y + robot_z = msg.pose.position.z + if robot_z > max_z: + max_z = robot_z + + lc.subscribe(ODOM_TOPIC, _odom_handler) + + lcm_running = True + + def _lcm_loop() -> None: + while lcm_running: + try: + lc.handle_timeout(100) + except Exception: + pass + + lcm_thread = threading.Thread(target=_lcm_loop, daemon=True) + lcm_thread.start() + + try: + coordinator.start() + print("[test-simple] Blueprint started, waiting for odom…") + + deadline = time.monotonic() + 60.0 + while time.monotonic() < deadline: + with lock: + if odom_count > 0: + break + time.sleep(0.5) + + with lock: + assert odom_count > 0, "No odometry received after 60s — sim not running?" + + print(f"[test-simple] Odom online. Robot at ({robot_x:.2f}, {robot_y:.2f})") + + print(f"[test-simple] Warming up for {WARMUP_SEC}s…") + time.sleep(WARMUP_SEC) + with lock: + print( + f"[test-simple] Warmup complete. odom_count={odom_count}, " + f"pos=({robot_x:.2f}, {robot_y:.2f})" + ) + + for name, gx, gy, gz, timeout_sec, threshold in WAYPOINTS: + with lock: + sx, sy = robot_x, robot_y + + print( + f"\n[test-simple] === {name}: goal ({gx}, {gy}) | " + f"robot ({sx:.2f}, {sy:.2f}) | " + f"dist={_distance(sx, sy, gx, gy):.2f}m | " + f"budget={timeout_sec}s ===" + ) + + goal = PointStamped(x=gx, y=gy, z=gz, ts=time.time(), frame_id="map") + lc.publish(GOAL_TOPIC, goal.lcm_encode()) + print(f"[test-simple] Goal published for {name}") + + t0 = time.monotonic() + reached = False + last_print = t0 + cx, cy = sx, sy + dist = _distance(cx, cy, gx, gy) + while True: + with lock: + cx, cy = robot_x, robot_y + cz = robot_z + cur_max_z = max_z + + assert cz <= MAX_ALLOWED_Z, ( + f"{name}: robot z={cz:.2f}m exceeded {MAX_ALLOWED_Z}m — " + f"robot went through the ceiling. " + f"pos=({cx:.2f}, {cy:.2f}, {cz:.2f}), max_z={cur_max_z:.2f}m" + ) + + dist = _distance(cx, cy, gx, gy) + now = time.monotonic() + elapsed = now - t0 + + if now - last_print >= 5.0: + print( + f"[test-simple] {name}: {elapsed:.0f}s/{timeout_sec}s | " + f"pos ({cx:.2f}, {cy:.2f}, z={cz:.2f}) | dist={dist:.2f}m" + ) + last_print = now + + if dist <= threshold: + reached = True + print( + f"[test-simple] ✓ {name}: reached in {elapsed:.1f}s " + f"(dist={dist:.2f}m ≤ {threshold}m)" + ) + break + + if elapsed >= timeout_sec: + print( + f"[test-simple] ✗ {name}: NOT reached after {elapsed:.1f}s " + f"(dist={dist:.2f}m > {threshold}m)" + ) + break + + time.sleep(0.1) + + assert reached, ( + f"{name}: robot did not reach ({gx}, {gy}) within {timeout_sec}s. " + f"Final pos=({cx:.2f}, {cy:.2f}), dist={dist:.2f}m" + ) + + # Final guard: the robot should never have gone above the + # allowed height at any point during the entire test run. + with lock: + final_max_z = max_z + assert final_max_z <= MAX_ALLOWED_Z, ( + f"Robot z peaked at {final_max_z:.2f}m during the run " + f"(limit {MAX_ALLOWED_Z}m) — went through the ceiling" + ) + + finally: + print("\n[test-simple] Stopping blueprint…") + lcm_running = False + lcm_thread.join(timeout=3) + coordinator.stop() + print("[test-simple] Done.") diff --git a/dimos/navigation/smart_nav/tests/test_explore_movement.py b/dimos/navigation/smart_nav/tests/test_explore_movement.py new file mode 100644 index 0000000000..4f13b05f5a --- /dev/null +++ b/dimos/navigation/smart_nav/tests/test_explore_movement.py @@ -0,0 +1,357 @@ +# 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. + +"""Integration test: verify exploration planner produces movement. + +Validates the complete explore pipeline: + [MockVehicle] → registered_scan + odometry + → [TerrainAnalysis] → terrain_map + → [TarePlanner] → way_point (exploration waypoints) + → [LocalPlanner] → path (autonomyMode=true) + → [PathFollower] → cmd_vel + → [MockVehicle] (tracks position changes) + +Requires built C++ native binaries (nix build). +""" + +from __future__ import annotations + +from dataclasses import dataclass, field +import math +from pathlib import Path +import platform +import threading +import time +from typing import Any + +import numpy as np +import pytest + +from dimos.core.core import rpc +from dimos.core.module import Module, ModuleConfig +from dimos.core.stream import In, Out +from dimos.msgs.geometry_msgs.Pose import Pose +from dimos.msgs.geometry_msgs.Quaternion import Quaternion +from dimos.msgs.geometry_msgs.Transform import Transform +from dimos.msgs.geometry_msgs.Twist import Twist +from dimos.msgs.geometry_msgs.Vector3 import Vector3 +from dimos.msgs.nav_msgs.Odometry import Odometry +from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 + +_NATIVE_DIR = Path(__file__).resolve().parent.parent +_REQUIRED_BINARIES = [ + ("result-terrain-analysis", "terrain_analysis"), + ("result-local-planner", "local_planner"), + ("result-path-follower", "path_follower"), + ("result-tare-planner", "tare_planner"), +] +_HAS_BINARIES = all((_NATIVE_DIR / d / "bin" / name).exists() for d, name in _REQUIRED_BINARIES) +_IS_LINUX_X86 = platform.system() == "Linux" and platform.machine() in ("x86_64", "AMD64") + +pytestmark = [ + pytest.mark.slow, + pytest.mark.skipif(not _IS_LINUX_X86, reason="Native modules require Linux x86_64"), + pytest.mark.skipif( + not _HAS_BINARIES, + reason="Native binaries not built (run: cd smart_nav/native && nix build)", + ), +] + + +# Helpers (must be at module level for pickling) + + +def _make_room_cloud( + robot_x: float, + robot_y: float, + room_size: float = 20.0, + wall_height: float = 2.5, + ground_z: float = 0.0, + density: float = 0.3, +) -> np.ndarray: + """Generate a room point cloud: flat ground + walls on 4 sides. + + Returns Nx3 array [x, y, z] (PointCloud2.from_numpy expects Nx3). + """ + pts = [] + + step = 1.0 / density + half = room_size / 2 + xs = np.arange(robot_x - half, robot_x + half, step) + ys = np.arange(robot_y - half, robot_y + half, step) + xx, yy = np.meshgrid(xs, ys) + ground = np.column_stack( + [ + xx.ravel(), + yy.ravel(), + np.full(xx.size, ground_z), + ] + ) + pts.append(ground) + + wall_step = 0.5 + for wall_x in [robot_x - half, robot_x + half]: + wy = np.arange(robot_y - half, robot_y + half, wall_step) + wz = np.arange(ground_z, ground_z + wall_height, wall_step) + wyy, wzz = np.meshgrid(wy, wz) + wall = np.column_stack( + [ + np.full(wyy.size, wall_x), + wyy.ravel(), + wzz.ravel(), + ] + ) + pts.append(wall) + + for wall_y in [robot_y - half, robot_y + half]: + wx = np.arange(robot_x - half, robot_x + half, wall_step) + wz = np.arange(ground_z, ground_z + wall_height, wall_step) + wxx, wzz = np.meshgrid(wx, wz) + wall = np.column_stack( + [ + wxx.ravel(), + np.full(wxx.size, wall_y), + wzz.ravel(), + ] + ) + pts.append(wall) + + return np.concatenate(pts, axis=0).astype(np.float32) + + +class MockVehicleConfig(ModuleConfig): + rate: float = 10.0 + sim_rate: float = 50.0 + + +class MockVehicle(Module): + """Publishes sensor data and integrates cmd_vel for position tracking.""" + + config: MockVehicleConfig + + cmd_vel: In[Twist] + registered_scan: Out[PointCloud2] + odometry: Out[Odometry] + + def __init__(self, **kwargs): # type: ignore[no-untyped-def] + super().__init__(**kwargs) + self._x = 0.0 + self._y = 0.0 + self._z = 0.75 + self._yaw = 0.0 + self._fwd = 0.0 + self._left = 0.0 + self._yaw_rate = 0.0 + self._cmd_lock = threading.Lock() + self._running = False + self._sensor_thread: threading.Thread | None = None + self._sim_thread: threading.Thread | None = None + + def __getstate__(self) -> dict[str, Any]: + state = super().__getstate__() + state.pop("_cmd_lock", None) + state.pop("_sensor_thread", None) + state.pop("_sim_thread", None) + return state + + def __setstate__(self, state: dict[str, Any]) -> None: + super().__setstate__(state) + self._cmd_lock = threading.Lock() + self._sensor_thread = None + self._sim_thread = None + + @rpc + def start(self) -> None: + super().start() + self.cmd_vel._transport.subscribe(self._on_cmd_vel) + self._running = True + self._sim_thread = threading.Thread(target=self._sim_loop, daemon=True) + self._sim_thread.start() + self._sensor_thread = threading.Thread(target=self._sensor_loop, daemon=True) + self._sensor_thread.start() + + @rpc + def stop(self) -> None: + self._running = False + if self._sim_thread: + self._sim_thread.join(timeout=3.0) + if self._sensor_thread: + self._sensor_thread.join(timeout=3.0) + super().stop() + + def _on_cmd_vel(self, twist: Twist) -> None: + with self._cmd_lock: + self._fwd = twist.linear.x + self._left = twist.linear.y + self._yaw_rate = twist.angular.z + + def _sim_loop(self) -> None: + dt = 1.0 / self.config.sim_rate + while self._running: + t0 = time.monotonic() + with self._cmd_lock: + fwd, left, yr = self._fwd, self._left, self._yaw_rate + + self._yaw += dt * yr + cy, sy = math.cos(self._yaw), math.sin(self._yaw) + self._x += dt * (cy * fwd - sy * left) + self._y += dt * (sy * fwd + cy * left) + + now = time.time() + quat = Quaternion.from_euler(Vector3(0.0, 0.0, self._yaw)) + self.odometry._transport.publish( + Odometry( + ts=now, + frame_id="map", + child_frame_id="sensor", + pose=Pose( + position=[self._x, self._y, self._z], + orientation=[quat.x, quat.y, quat.z, quat.w], + ), + twist=Twist( + linear=[fwd, left, 0.0], + angular=[0.0, 0.0, yr], + ), + ) + ) + self.tf.publish( + Transform( + translation=Vector3(self._x, self._y, self._z), + rotation=quat, + frame_id="map", + child_frame_id="sensor", + ts=now, + ), + ) + + elapsed = time.monotonic() - t0 + if elapsed < dt: + time.sleep(dt - elapsed) + + def _sensor_loop(self) -> None: + dt = 1.0 / self.config.rate + while self._running: + now = time.time() + cloud_data = _make_room_cloud(self._x, self._y) + self.registered_scan._transport.publish( + PointCloud2.from_numpy(cloud_data, frame_id="map", timestamp=now) + ) + time.sleep(dt) + + +@dataclass +class Collector: + """Thread-safe message collector.""" + + waypoints: list = field(default_factory=list) + paths: list = field(default_factory=list) + cmd_vels: list = field(default_factory=list) + terrain_maps: list = field(default_factory=list) + lock: threading.Lock = field(default_factory=threading.Lock) + + +# Test + + +def test_explore_produces_movement(): + """End-to-end: TARE planner drives robot movement via full pipeline.""" + from dimos.core.coordination.blueprints import autoconnect + from dimos.core.coordination.module_coordinator import ModuleCoordinator + from dimos.msgs.geometry_msgs.PointStamped import PointStamped + from dimos.msgs.nav_msgs.Path import Path as NavPath + from dimos.navigation.smart_nav.modules.local_planner.local_planner import LocalPlanner + from dimos.navigation.smart_nav.modules.path_follower.path_follower import PathFollower + from dimos.navigation.smart_nav.modules.tare_planner.tare_planner import TarePlanner + from dimos.navigation.smart_nav.modules.terrain_analysis.terrain_analysis import TerrainAnalysis + + collector = Collector() + + blueprint = autoconnect( + MockVehicle.blueprint(), + TerrainAnalysis.blueprint(), + LocalPlanner.blueprint(autonomy_mode=True), + PathFollower.blueprint(autonomy_mode=True), + TarePlanner.blueprint(), + ) + + coordinator = ModuleCoordinator.build(blueprint) + + # Subscribe to outputs + tare = coordinator.get_instance(TarePlanner) + planner = coordinator.get_instance(LocalPlanner) + follower = coordinator.get_instance(PathFollower) + coordinator.get_instance(MockVehicle) + terrain = coordinator.get_instance(TerrainAnalysis) + + def _on_wp(msg: PointStamped) -> None: + with collector.lock: + collector.waypoints.append((msg.x, msg.y, msg.z)) + + def _on_terrain(msg: PointCloud2) -> None: + with collector.lock: + collector.terrain_maps.append(True) + + def _on_path(msg: NavPath) -> None: + with collector.lock: + collector.paths.append(msg) + + def _on_cmd(msg: Twist) -> None: + with collector.lock: + collector.cmd_vels.append((msg.linear.x, msg.linear.y, msg.angular.z)) + + tare.way_point._transport.subscribe(_on_wp) + planner.path._transport.subscribe(_on_path) + follower.cmd_vel._transport.subscribe(_on_cmd) + terrain.terrain_map._transport.subscribe(_on_terrain) + + try: + coordinator.start() + + # Wait for pipeline outputs — TARE needs several scan cycles + deadline = time.monotonic() + 30.0 + while time.monotonic() < deadline: + with collector.lock: + has_terrain = len(collector.terrain_maps) > 0 + has_waypoints = len(collector.waypoints) > 0 + has_paths = len(collector.paths) > 0 + has_cmds = len(collector.cmd_vels) > 0 + if has_terrain and has_waypoints and has_paths and has_cmds: + break + time.sleep(0.5) + + # Let movement accumulate + time.sleep(5.0) + + # -- Assertions -- + with collector.lock: + assert len(collector.terrain_maps) > 0, "TerrainAnalysis never produced terrain_map" + + assert len(collector.waypoints) > 0, "TarePlanner never produced a waypoint" + + assert len(collector.paths) > 0, ( + "LocalPlanner never produced a path — check that autonomyMode=true is being passed" + ) + + nonzero_cmds = [ + (vx, vy, wz) + for vx, vy, wz in collector.cmd_vels + if abs(vx) > 0.01 or abs(vy) > 0.01 or abs(wz) > 0.01 + ] + assert len(nonzero_cmds) > 0, ( + f"PathFollower produced {len(collector.cmd_vels)} cmd_vels " + f"but ALL were zero — robot is not moving" + ) + + finally: + coordinator.stop() diff --git a/dimos/navigation/smart_nav/tests/test_full_nav_loop.py b/dimos/navigation/smart_nav/tests/test_full_nav_loop.py new file mode 100644 index 0000000000..78b0e9543c --- /dev/null +++ b/dimos/navigation/smart_nav/tests/test_full_nav_loop.py @@ -0,0 +1,210 @@ +# 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. + +"""Integration test: full navigation closed loop. + +Verifies that synthetic lidar + odometry data flows through the entire +SmartNav pipeline and produces autonomous navigation output: + + [MockSensor] → registered_scan + odometry + → [TerrainAnalysis] → terrain_map + → [LocalPlanner] → path + → [PathFollower] → cmd_vel + +Requires built C++ native binaries (nix build). +""" + +from __future__ import annotations + +from pathlib import Path +import platform +import threading +import time +from typing import Any + +import numpy as np +import pytest + +from dimos.core.core import rpc +from dimos.core.module import Module, ModuleConfig +from dimos.core.stream import Out +from dimos.msgs.geometry_msgs.Pose import Pose +from dimos.msgs.geometry_msgs.Quaternion import Quaternion +from dimos.msgs.geometry_msgs.Transform import Transform +from dimos.msgs.geometry_msgs.Twist import Twist +from dimos.msgs.geometry_msgs.Vector3 import Vector3 +from dimos.msgs.nav_msgs.Odometry import Odometry +from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 + +# Skip conditions +_NATIVE_DIR = Path(__file__).resolve().parent.parent +_HAS_BINARIES = all( + (_NATIVE_DIR / d / "bin" / name).exists() + for d, name in [ + ("result-terrain-analysis", "terrain_analysis"), + ("result-local-planner", "local_planner"), + ("result-path-follower", "path_follower"), + ] +) +_IS_LINUX_X86 = platform.system() == "Linux" and platform.machine() in ("x86_64", "AMD64") + +pytestmark = [ + pytest.mark.slow, + pytest.mark.skipif(not _IS_LINUX_X86, reason="Native modules require Linux x86_64"), + pytest.mark.skipif(not _HAS_BINARIES, reason="Native binaries not built"), +] + + +def _make_flat_ground_cloud() -> np.ndarray: + """Nx3 flat ground cloud around origin.""" + step = 2.0 + xs = np.arange(-10, 10, step) + ys = np.arange(-10, 10, step) + xx, yy = np.meshgrid(xs, ys) + return np.column_stack([xx.ravel(), yy.ravel(), np.zeros(xx.size)]).astype(np.float32) + + +class MockSensorConfig(ModuleConfig): + rate: float = 5.0 + + +class MockSensor(Module): + """Publishes synthetic lidar + odometry at fixed rate.""" + + config: MockSensorConfig + registered_scan: Out[PointCloud2] + odometry: Out[Odometry] + + def __init__(self, **kwargs): # type: ignore[no-untyped-def] + super().__init__(**kwargs) + self._running = False + self._thread: threading.Thread | None = None + + def __getstate__(self) -> dict[str, Any]: + state = super().__getstate__() + state.pop("_thread", None) + return state + + def __setstate__(self, state: dict[str, Any]) -> None: + super().__setstate__(state) + self._thread = None + + @rpc + def start(self) -> None: + super().start() + self._running = True + self._thread = threading.Thread(target=self._loop, daemon=True) + self._thread.start() + + @rpc + def stop(self) -> None: + self._running = False + if self._thread: + self._thread.join(timeout=3.0) + super().stop() + + def _loop(self) -> None: + dt = 1.0 / self.config.rate + while self._running: + now = time.time() + self.registered_scan._transport.publish( + PointCloud2.from_numpy(_make_flat_ground_cloud(), frame_id="map", timestamp=now) + ) + quat = Quaternion(0.0, 0.0, 0.0, 1.0) + self.odometry._transport.publish( + Odometry( + ts=now, + frame_id="map", + child_frame_id="sensor", + pose=Pose( + position=[0.0, 0.0, 0.75], + orientation=[quat.x, quat.y, quat.z, quat.w], + ), + twist=Twist(linear=[0.0, 0.0, 0.0], angular=[0.0, 0.0, 0.0]), + ) + ) + self.tf.publish( + Transform( + translation=Vector3(0.0, 0.0, 0.75), + rotation=quat, + frame_id="map", + child_frame_id="sensor", + ts=now, + ), + ) + time.sleep(dt) + + +def test_full_nav_closed_loop(): + """End-to-end: synthetic data -> terrain_map + path + cmd_vel produced.""" + from dimos.core.coordination.blueprints import autoconnect + from dimos.core.coordination.module_coordinator import ModuleCoordinator + from dimos.msgs.geometry_msgs.PointStamped import PointStamped + from dimos.navigation.smart_nav.modules.local_planner.local_planner import LocalPlanner + from dimos.navigation.smart_nav.modules.path_follower.path_follower import PathFollower + from dimos.navigation.smart_nav.modules.terrain_analysis.terrain_analysis import TerrainAnalysis + + terrain_maps: list = [] + paths: list = [] + cmd_vels: list = [] + lock = threading.Lock() + + blueprint = autoconnect( + MockSensor.blueprint(), + TerrainAnalysis.blueprint(), + LocalPlanner.blueprint(autonomy_mode=True), + PathFollower.blueprint(autonomy_mode=True), + ) + + coordinator = ModuleCoordinator.build(blueprint) + + terrain = coordinator.get_instance(TerrainAnalysis) + planner = coordinator.get_instance(LocalPlanner) + follower = coordinator.get_instance(PathFollower) + + terrain.terrain_map._transport.subscribe( + lambda m: (lock.acquire(), terrain_maps.append(m), lock.release()) + ) + planner.path._transport.subscribe(lambda m: (lock.acquire(), paths.append(m), lock.release())) + follower.cmd_vel._transport.subscribe( + lambda m: (lock.acquire(), cmd_vels.append(m), lock.release()) + ) + + # Send waypoint after warmup + def _send_waypoint() -> None: + time.sleep(3.0) + lp = coordinator.get_instance(LocalPlanner) + wp = PointStamped(x=5.0, y=0.0, z=0.0, frame_id="map") + lp.way_point._transport.publish(wp) + + wp_thread = threading.Thread(target=_send_waypoint, daemon=True) + wp_thread.start() + + try: + coordinator.start() + + deadline = time.monotonic() + 30.0 + while time.monotonic() < deadline: + with lock: + done = len(terrain_maps) > 0 and len(paths) > 0 and len(cmd_vels) > 0 + if done: + break + time.sleep(0.5) + + with lock: + assert len(terrain_maps) > 0, "TerrainAnalysis produced no terrain_map" + assert len(paths) > 0, "LocalPlanner produced no path" + assert len(cmd_vels) > 0, "PathFollower produced no cmd_vel" + finally: + coordinator.stop() diff --git a/dimos/navigation/smart_nav/tests/test_nav_loop_drive.py b/dimos/navigation/smart_nav/tests/test_nav_loop_drive.py new file mode 100644 index 0000000000..6c7e2a5549 --- /dev/null +++ b/dimos/navigation/smart_nav/tests/test_nav_loop_drive.py @@ -0,0 +1,321 @@ +# 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. + +"""Integration test: robot navigates a multi-waypoint loop. + +Sends waypoints in a square pattern and verifies the robot actually +moves toward each one. Prints detailed odometry + cmd_vel diagnostics. + +This is the definitive test that the nav stack works end-to-end. +""" + +from __future__ import annotations + +import math +from pathlib import Path +import platform +import threading +import time +from typing import Any + +import numpy as np +import pytest + +from dimos.core.core import rpc +from dimos.core.module import Module, ModuleConfig +from dimos.core.stream import In, Out +from dimos.msgs.geometry_msgs.PointStamped import PointStamped +from dimos.msgs.geometry_msgs.Pose import Pose +from dimos.msgs.geometry_msgs.Quaternion import Quaternion +from dimos.msgs.geometry_msgs.Transform import Transform +from dimos.msgs.geometry_msgs.Twist import Twist +from dimos.msgs.geometry_msgs.Vector3 import Vector3 +from dimos.msgs.nav_msgs.Odometry import Odometry +from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 + +_NATIVE_DIR = Path(__file__).resolve().parent.parent +_HAS_BINARIES = all( + (_NATIVE_DIR / d / "bin" / name).exists() + for d, name in [ + ("result-terrain-analysis", "terrain_analysis"), + ("result-local-planner", "local_planner"), + ("result-path-follower", "path_follower"), + ] +) +_IS_LINUX_X86 = platform.system() == "Linux" and platform.machine() in ("x86_64", "AMD64") + +pytestmark = [ + pytest.mark.slow, + pytest.mark.skipif(not _IS_LINUX_X86, reason="Native modules require Linux x86_64"), + pytest.mark.skipif(not _HAS_BINARIES, reason="Native binaries not built"), +] + + +def _make_ground(rx: float, ry: float) -> np.ndarray: + """Flat ground cloud around robot. Nx3.""" + step = 1.5 + xs = np.arange(rx - 15, rx + 15, step) + ys = np.arange(ry - 15, ry + 15, step) + xx, yy = np.meshgrid(xs, ys) + return np.column_stack([xx.ravel(), yy.ravel(), np.zeros(xx.size)]).astype(np.float32) + + +class VehicleConfig(ModuleConfig): + sensor_rate: float = 5.0 + sim_rate: float = 50.0 + + +class Vehicle(Module): + """Kinematic sim vehicle with public position for test inspection.""" + + config: VehicleConfig + cmd_vel: In[Twist] + registered_scan: Out[PointCloud2] + odometry: Out[Odometry] + + def __init__(self, **kw): # type: ignore[no-untyped-def] + super().__init__(**kw) + self.x = 0.0 + self.y = 0.0 + self.z = 0.75 + self.yaw = 0.0 + self._fwd = 0.0 + self._left = 0.0 + self._yr = 0.0 + self._lock = threading.Lock() + self._running = False + self._threads: list[threading.Thread] = [] + + def __getstate__(self) -> dict[str, Any]: + s = super().__getstate__() + for k in ("_lock", "_threads"): + s.pop(k, None) + return s + + def __setstate__(self, s: dict) -> None: + super().__setstate__(s) + self._lock = threading.Lock() + self._threads = [] + + @rpc + def start(self) -> None: + super().start() + self.cmd_vel._transport.subscribe(self._on_cmd) + self._running = True + for fn in (self._sim_loop, self._sensor_loop): + t = threading.Thread(target=fn, daemon=True) + t.start() + self._threads.append(t) + + @rpc + def stop(self) -> None: + self._running = False + for t in self._threads: + t.join(timeout=3) + super().stop() + + def _on_cmd(self, tw: Twist) -> None: + with self._lock: + self._fwd = tw.linear.x + self._left = tw.linear.y + self._yr = tw.angular.z + + def _sim_loop(self) -> None: + dt = 1.0 / self.config.sim_rate + while self._running: + t0 = time.monotonic() + with self._lock: + fwd, left, yr = self._fwd, self._left, self._yr + self.yaw += dt * yr + cy, sy = math.cos(self.yaw), math.sin(self.yaw) + self.x += dt * (cy * fwd - sy * left) + self.y += dt * (sy * fwd + cy * left) + now = time.time() + q = Quaternion.from_euler(Vector3(0.0, 0.0, self.yaw)) + self.odometry._transport.publish( + Odometry( + ts=now, + frame_id="map", + child_frame_id="sensor", + pose=Pose(position=[self.x, self.y, self.z], orientation=[q.x, q.y, q.z, q.w]), + twist=Twist(linear=[fwd, left, 0], angular=[0, 0, yr]), + ) + ) + self.tf.publish( + Transform( + translation=Vector3(self.x, self.y, self.z), + rotation=q, + frame_id="map", + child_frame_id="sensor", + ts=now, + ) + ) + sl = dt - (time.monotonic() - t0) + if sl > 0: + time.sleep(sl) + + def _sensor_loop(self) -> None: + dt = 1.0 / self.config.sensor_rate + while self._running: + now = time.time() + cloud = _make_ground(self.x, self.y) + self.registered_scan._transport.publish( + PointCloud2.from_numpy(cloud, frame_id="map", timestamp=now) + ) + time.sleep(dt) + + +def test_multi_waypoint_loop(): + """Send 4 waypoints in a square, verify robot moves toward each.""" + from dimos.core.coordination.blueprints import autoconnect + from dimos.core.coordination.module_coordinator import ModuleCoordinator + from dimos.navigation.smart_nav.modules.local_planner.local_planner import LocalPlanner + from dimos.navigation.smart_nav.modules.path_follower.path_follower import PathFollower + from dimos.navigation.smart_nav.modules.terrain_analysis.terrain_analysis import TerrainAnalysis + + # Collect cmd_vel to verify non-zero commands + cmd_log: list[tuple[float, float, float]] = [] + cmd_lock = threading.Lock() + + blueprint = autoconnect( + Vehicle.blueprint(), + TerrainAnalysis.blueprint(), + LocalPlanner.blueprint( + autonomy_mode=True, + max_speed=2.0, + autonomy_speed=2.0, + ), + PathFollower.blueprint( + autonomy_mode=True, + max_speed=2.0, + autonomy_speed=2.0, + max_acceleration=4.0, + slow_down_distance_threshold=0.2, + ), + ) + coord = ModuleCoordinator.build(blueprint) + + planner = coord.get_instance(LocalPlanner) + follower = coord.get_instance(PathFollower) + + follower.cmd_vel._transport.subscribe( + lambda m: ( + cmd_lock.acquire(), + cmd_log.append((m.linear.x, m.linear.y, m.angular.z)), + cmd_lock.release(), + ) + ) + + # Also track path sizes to diagnose stop paths + path_sizes: list[int] = [] + path_lock = threading.Lock() + planner.path._transport.subscribe( + lambda m: (path_lock.acquire(), path_sizes.append(len(m.poses)), path_lock.release()) + ) + + # We can't access vehicle._x directly (Actor proxy blocks private attrs). + # Instead, subscribe to odometry and track position ourselves. + positions: list[tuple[float, float]] = [] + pos_lock = threading.Lock() + + def _on_odom(msg: Odometry) -> None: + with pos_lock: + positions.append((msg.pose.position.x, msg.pose.position.y)) + + vehicle_actor = coord.get_instance(Vehicle) + vehicle_actor.odometry._transport.subscribe(_on_odom) + + coord.start() + + waypoints = [(5.0, 0.0), (5.0, 5.0), (0.0, 5.0), (0.0, 0.0)] + + try: + # Wait for C++ modules to initialize + print("[test] Waiting 3s for modules to start...") + time.sleep(3.0) + + for i, (wx, wy) in enumerate(waypoints): + wp = PointStamped(x=wx, y=wy, z=0.0, frame_id="map") + planner.way_point._transport.publish(wp) + print(f"[test] Sent waypoint {i}: ({wx}, {wy})") + + # Drive toward waypoint for up to 8 seconds + t0 = time.monotonic() + while time.monotonic() - t0 < 8.0: + time.sleep(0.5) + with pos_lock: + if positions: + cx, cy = positions[-1] + else: + cx, cy = 0.0, 0.0 + dist = math.sqrt((cx - wx) ** 2 + (cy - wy) ** 2) + if dist < 1.0: + print(f"[test] Reached wp{i} at ({cx:.2f}, {cy:.2f}), dist={dist:.2f}") + break + else: + with pos_lock: + if positions: + cx, cy = positions[-1] + else: + cx, cy = 0.0, 0.0 + dist = math.sqrt((cx - wx) ** 2 + (cy - wy) ** 2) + print(f"[test] Timeout wp{i}: pos=({cx:.2f}, {cy:.2f}), dist={dist:.2f}") + + # Final position summary + with pos_lock: + if positions: + fx, fy = positions[-1] + else: + fx, fy = 0.0, 0.0 + print(f"[test] Final position: ({fx:.2f}, {fy:.2f})") + + # Check we actually moved + with pos_lock: + all_x = [p[0] for p in positions] + all_y = [p[1] for p in positions] + x_range = max(all_x) - min(all_x) if all_x else 0 + y_range = max(all_y) - min(all_y) if all_y else 0 + print( + f"[test] Position range: x=[{min(all_x):.2f}, {max(all_x):.2f}] y=[{min(all_y):.2f}, {max(all_y):.2f}]" + ) + + with cmd_lock: + total_cmds = len(cmd_log) + nonzero = sum( + 1 for vx, vy, wz in cmd_log if abs(vx) > 0.01 or abs(vy) > 0.01 or abs(wz) > 0.01 + ) + print(f"[test] cmd_vel: {total_cmds} total, {nonzero} non-zero") + + with path_lock: + n_paths = len(path_sizes) + stop_paths = sum(1 for s in path_sizes if s <= 1) + real_paths = sum(1 for s in path_sizes if s > 1) + if path_sizes: + avg_len = sum(path_sizes) / len(path_sizes) + else: + avg_len = 0 + print( + f"[test] paths: {n_paths} total, {real_paths} real (>1 pose), {stop_paths} stop (<=1 pose), avg_len={avg_len:.1f}" + ) + + # Hard assertions + assert total_cmds > 0, "No cmd_vel messages at all" + assert nonzero > 0, f"All {total_cmds} cmd_vel were zero — autonomyMode not working" + assert x_range > 1.0 or y_range > 1.0, ( + f"Robot barely moved: x_range={x_range:.2f}, y_range={y_range:.2f}. " + f"Non-zero cmds: {nonzero}/{total_cmds}" + ) + + finally: + coord.stop() diff --git a/dimos/navigation/smart_nav/tests/test_paths_and_blueprint.py b/dimos/navigation/smart_nav/tests/test_paths_and_blueprint.py new file mode 100644 index 0000000000..9655ca64a1 --- /dev/null +++ b/dimos/navigation/smart_nav/tests/test_paths_and_blueprint.py @@ -0,0 +1,85 @@ +# 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. + +"""Integration tests: verify all paths resolve and blueprint is constructable.""" + +import importlib +from pathlib import Path + +import pytest + +from dimos.core.native_module import NativeModule + + +class TestAllNativeModulePaths: + """Every NativeModule in smart_nav must have valid, existing paths.""" + + @pytest.fixture( + params=[ + "terrain_analysis", + "local_planner", + "path_follower", + "far_planner", + "tare_planner", + ] + ) + def native_module(self, request): + """Parametrized fixture that yields each native module class.""" + name = request.param + mod = importlib.import_module(f"dimos.navigation.smart_nav.modules.{name}.{name}") + # The class name varies; find the NativeModule subclass + for attr_name in dir(mod): + attr = getattr(mod, attr_name) + if ( + isinstance(attr, type) + and issubclass(attr, NativeModule) + and attr is not NativeModule + ): + return attr + pytest.fail(f"No NativeModule subclass found in {name}") + + def test_cwd_exists(self, native_module): + m = native_module() + try: + assert Path(m.config.cwd).exists() + finally: + m.stop() + + def test_executable_exists(self, native_module): + m = native_module() + try: + exe = Path(m.config.executable) + if not exe.exists(): + pytest.skip("Native binary not built") + assert exe.exists() + finally: + m.stop() + + +class TestDataFiles: + def test_path_data_exists(self): + from dimos.utils.data import get_data + + data = get_data("smart_nav_paths") + for f in ["startPaths.ply", "pathList.ply", "paths.ply"]: + assert (data / f).exists(), f"Missing data file: {data / f}" + + +class TestBlueprintImport: + def test_g1_nav_sim_blueprint_importable(self): + from dimos.robot.unitree.g1.blueprints.navigation.unitree_g1_nav_sim import ( + unitree_g1_nav_sim, + ) + + assert unitree_g1_nav_sim is not None diff --git a/dimos/navigation/smart_nav/tests/test_pgo_global_map.py b/dimos/navigation/smart_nav/tests/test_pgo_global_map.py new file mode 100644 index 0000000000..71ab191aae --- /dev/null +++ b/dimos/navigation/smart_nav/tests/test_pgo_global_map.py @@ -0,0 +1,382 @@ +# 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. + +"""Integration tests: PGO global map functionality. + +Exercises `_SimplePGO` (the algorithm core inside `pgo.py`) for: +- Global map accumulation from keyframes +- Global map point cloud contains points from ALL keyframes +- Loop closure updates the global map positions +- Global map can be exported as a valid PointCloud2 +""" + +from __future__ import annotations + +import math +import time + +import numpy as np +import pytest +from scipy.spatial.transform import Rotation + +from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 + +try: + from dimos.navigation.smart_nav.modules.pgo.pgo import PGOConfig, _SimplePGO + + _HAS_PGO_DEPS = True +except ImportError: + _HAS_PGO_DEPS = False + +pytestmark = pytest.mark.skipif(not _HAS_PGO_DEPS, reason="gtsam not installed") + +# ─── Helpers ───────────────────────────────────────────────────────────────── + + +def make_rotation(yaw_deg: float) -> np.ndarray: + return Rotation.from_euler("z", yaw_deg, degrees=True).as_matrix() + + +def make_structured_cloud(center: np.ndarray, n_points: int = 500, seed: int = 42) -> np.ndarray: + """Create a sphere-surface point cloud around a center.""" + rng = np.random.default_rng(seed) + phi = rng.uniform(0, 2 * np.pi, n_points) + theta = rng.uniform(0, np.pi, n_points) + r = 2.0 + x = r * np.sin(theta) * np.cos(phi) + center[0] + y = r * np.sin(theta) * np.sin(phi) + center[1] + z = r * np.cos(theta) + center[2] + return np.column_stack([x, y, z]) + + +def make_random_cloud( + center: np.ndarray, n_points: int = 200, spread: float = 1.0, seed: int | None = None +) -> np.ndarray: + rng = np.random.default_rng(seed) + return center + rng.normal(0, spread, (n_points, 3)) + + +def drive_trajectory( + pgo: _SimplePGO, + waypoints: list[np.ndarray], + step: float = 0.4, + time_per_step: float = 1.0, + cloud_seed_base: int = 0, +) -> None: + """Drive a trajectory through a list of waypoints, adding keyframes.""" + t = 0.0 + pos = waypoints[0].copy() + for i in range(1, len(waypoints)): + direction = waypoints[i] - waypoints[i - 1] + dist = np.linalg.norm(direction) + if dist < 1e-6: + continue + direction_norm = direction / dist + yaw = math.degrees(math.atan2(direction_norm[1], direction_norm[0])) + r = make_rotation(yaw) + n_steps = int(dist / step) + + for s in range(n_steps): + pos = waypoints[i - 1] + direction_norm * step * (s + 1) + cloud = make_structured_cloud( + np.zeros(3), n_points=200, seed=(cloud_seed_base + int(t)) % 10000 + ) + added = pgo.add_key_pose(r, pos, t, cloud) + if added: + pgo.search_for_loops() + pgo.smooth_and_update() + t += time_per_step + + +# ─── Global Map Accumulation Tests ─────────────────────────────────────────── + + +class TestGlobalMapAccumulation: + """Test that PGO produces a valid global map from keyframes.""" + + def test_global_map_contains_all_keyframes(self): + """Global map should contain transformed points from every keyframe.""" + config = PGOConfig( + key_pose_delta_trans=0.3, + global_map_voxel_size=0.0, # No downsampling + ) + pgo = _SimplePGO(config) + + n_keyframes = 10 + pts_per_frame = 100 + for i in range(n_keyframes): + pos = np.array([i * 1.0, 0.0, 0.0]) + cloud = make_random_cloud(np.zeros(3), n_points=pts_per_frame, seed=i) + pgo.add_key_pose(np.eye(3), pos, float(i), cloud) + pgo.smooth_and_update() + + assert len(pgo._key_poses) == n_keyframes + global_map = pgo.build_global_map(voxel_size=0.0) + assert len(global_map) == n_keyframes * pts_per_frame, ( + f"Expected {n_keyframes * pts_per_frame} points, got {len(global_map)}" + ) + + def test_global_map_points_are_in_world_frame(self): + """Points in the global map should be transformed to world coordinates.""" + config = PGOConfig( + key_pose_delta_trans=0.3, + # submap_resolution=0 disables the voxel-downsample-on-insert inside + # _SimplePGO.add_key_pose so we can compare the exact point set. + submap_resolution=0.0, + global_map_voxel_size=0.0, + ) + pgo = _SimplePGO(config) + + cloud_body = np.array([[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]) + pgo.add_key_pose(np.eye(3), np.array([10.0, 20.0, 0.0]), 0.0, cloud_body) + pgo.smooth_and_update() + + global_map = pgo.build_global_map(voxel_size=0.0) + + expected = cloud_body + np.array([10.0, 20.0, 0.0]) + # Order-independent: sort both by (x,y,z) before comparing. + sorted_actual = global_map[np.lexsort(global_map.T)] + sorted_expected = expected[np.lexsort(expected.T)] + np.testing.assert_allclose(sorted_actual, sorted_expected, atol=1e-6) + + def test_global_map_with_rotation(self): + """Global map should correctly rotate body-frame points.""" + config = PGOConfig( + key_pose_delta_trans=0.3, + global_map_voxel_size=0.0, + ) + pgo = _SimplePGO(config) + + # 90 degree yaw rotation + r_90 = make_rotation(90.0) + cloud_body = np.array([[1.0, 0.0, 0.0]]) # Point along body x-axis + pgo.add_key_pose(r_90, np.zeros(3), 0.0, cloud_body) + pgo.smooth_and_update() + + global_map = pgo.build_global_map(voxel_size=0.0) + + # After 90 deg yaw, body x-axis → world y-axis + np.testing.assert_allclose(global_map[0, 0], 0.0, atol=1e-6) + np.testing.assert_allclose(global_map[0, 1], 1.0, atol=1e-6) + np.testing.assert_allclose(global_map[0, 2], 0.0, atol=1e-6) + + def test_global_map_grows_with_trajectory(self): + """Global map should grow as more keyframes are added.""" + config = PGOConfig(key_pose_delta_trans=0.3, global_map_voxel_size=0.0) + pgo = _SimplePGO(config) + + sizes = [] + for i in range(20): + pos = np.array([i * 0.5, 0.0, 0.0]) + cloud = make_random_cloud(np.zeros(3), n_points=50, seed=i) + pgo.add_key_pose(np.eye(3), pos, float(i), cloud) + pgo.smooth_and_update() + sizes.append(len(pgo.build_global_map(voxel_size=0.0))) + + # Map should be monotonically growing + for j in range(1, len(sizes)): + assert sizes[j] >= sizes[j - 1], f"Map shrunk: {sizes[j]} < {sizes[j - 1]} at step {j}" + + def test_global_map_voxel_downsampling(self): + """Downsampled global map should have fewer points.""" + config = PGOConfig(key_pose_delta_trans=0.3) + pgo = _SimplePGO(config) + + for i in range(10): + pos = np.array([i * 1.0, 0.0, 0.0]) + cloud = make_random_cloud(np.zeros(3), n_points=200, seed=i) + pgo.add_key_pose(np.eye(3), pos, float(i), cloud) + pgo.smooth_and_update() + + map_full = pgo.build_global_map(voxel_size=0.0) + map_ds = pgo.build_global_map(voxel_size=0.5) + + assert len(map_ds) < len(map_full), ( + f"Downsampled map ({len(map_ds)}) should be smaller than full ({len(map_full)})" + ) + assert len(map_ds) > 0 + + +# ─── Loop Closure Global Map Tests ────────────────────────────────────────── + + +class TestLoopClosureGlobalMap: + """Test that loop closure correctly updates the global map.""" + + def test_global_map_updates_after_loop_closure(self): + """After loop closure, global map positions should be corrected.""" + config = PGOConfig( + key_pose_delta_trans=0.4, + key_pose_delta_deg=10.0, + loop_search_radius=15.0, + loop_time_thresh=30.0, + loop_score_thresh=2.0, # Very relaxed for synthetic data + loop_submap_half_range=3, + submap_resolution=0.2, + min_loop_detect_duration=0.0, + global_map_voxel_size=0.0, + max_icp_iterations=30, + max_icp_correspondence_dist=20.0, + ) + pgo = _SimplePGO(config) + + # Drive a square trajectory + side = 20.0 + waypoints = [ + np.array([0.0, 0.0, 0.0]), + np.array([side, 0.0, 0.0]), + np.array([side, side, 0.0]), + np.array([0.0, side, 0.0]), + np.array([0.0, 0.0, 0.0]), # Return to start + ] + drive_trajectory(pgo, waypoints, step=0.4, time_per_step=1.0) + + # Should have accumulated keyframes + assert len(pgo._key_poses) > 20 + + # Build global map + global_map = pgo.build_global_map(voxel_size=0.0) + assert len(global_map) > 0 + + # If loop closure detected, verify map is consistent + if len(pgo._history_pairs) > 0: + # The start and end keyframe positions should be close + start_pos = pgo._key_poses[0].t_global + end_pos = pgo._key_poses[-1].t_global + # After loop closure correction + dist = np.linalg.norm(end_pos - start_pos) + assert dist < 15.0, f"After loop closure, start-end distance {dist:.2f}m is too large" + + def test_global_map_all_keyframes_present_after_loop(self): + """After loop closure, ALL keyframes should still be in the map.""" + config = PGOConfig( + key_pose_delta_trans=0.3, + loop_search_radius=15.0, + loop_time_thresh=20.0, + loop_score_thresh=2.0, + min_loop_detect_duration=0.0, + global_map_voxel_size=0.0, + max_icp_correspondence_dist=20.0, + ) + pgo = _SimplePGO(config) + + pts_per_frame = 50 + n_poses = 0 + for i in range(40): + pos = np.array([i * 0.5, 0.0, 0.0]) + cloud = make_random_cloud(np.zeros(3), n_points=pts_per_frame, seed=i % 5) + added = pgo.add_key_pose(np.eye(3), pos, float(i), cloud) + if added: + pgo.smooth_and_update() + n_poses += 1 + + global_map = pgo.build_global_map(voxel_size=0.0) + expected_points = n_poses * pts_per_frame + assert len(global_map) == expected_points, ( + f"Expected {expected_points} points from {n_poses} keyframes, got {len(global_map)}" + ) + + +# ─── PointCloud2 Export Tests ──────────────────────────────────────────────── + + +class TestGlobalMapExport: + """Test that global map can be exported as valid PointCloud2.""" + + def test_export_as_pointcloud2(self): + """Global map numpy array should convert to valid PointCloud2.""" + config = PGOConfig(key_pose_delta_trans=0.3, global_map_voxel_size=0.0) + pgo = _SimplePGO(config) + + for i in range(5): + pos = np.array([i * 1.0, 0.0, 0.0]) + cloud = make_random_cloud(np.zeros(3), n_points=100, seed=i) + pgo.add_key_pose(np.eye(3), pos, float(i), cloud) + pgo.smooth_and_update() + + global_map = pgo.build_global_map(voxel_size=0.1) + assert len(global_map) > 0 + + # Convert to PointCloud2 + pc2 = PointCloud2.from_numpy( + global_map.astype(np.float32), + frame_id="map", + timestamp=time.time(), + ) + + # Verify round-trip + points_back, _ = pc2.as_numpy() + assert points_back.shape[0] > 0 + assert points_back.shape[1] >= 3 + + def test_export_empty_map(self): + """Exporting an empty global map should not crash.""" + pgo = _SimplePGO(PGOConfig()) + global_map = pgo.build_global_map(0.0) + assert len(global_map) == 0 + + def test_export_large_map(self): + """Test export with a larger accumulated map (many keyframes).""" + config = PGOConfig( + key_pose_delta_trans=0.3, + global_map_voxel_size=0.2, + ) + pgo = _SimplePGO(config) + + for i in range(50): + pos = np.array([i * 0.5, 0.0, 0.0]) + cloud = make_random_cloud(np.zeros(3), n_points=200, seed=i) + pgo.add_key_pose(np.eye(3), pos, float(i), cloud) + pgo.smooth_and_update() + + global_map = pgo.build_global_map(0.0) + assert len(global_map) > 0 + + # Should be downsampled (less than 50 * 200 = 10000) + assert len(global_map) < 10000 + + # Convert to PointCloud2 + pc2 = PointCloud2.from_numpy( + global_map.astype(np.float32), + frame_id="map", + timestamp=time.time(), + ) + points_back, _ = pc2.as_numpy() + assert len(points_back) == len(global_map) + + def test_global_map_spatial_extent(self): + """Global map should span the spatial extent of the trajectory.""" + config = PGOConfig( + key_pose_delta_trans=0.3, + global_map_voxel_size=0.0, + ) + pgo = _SimplePGO(config) + + # Drive 10 meters in x direction + for i in range(30): + pos = np.array([i * 0.5, 0.0, 0.0]) + cloud = make_random_cloud(np.zeros(3), n_points=50, spread=0.5, seed=i) + pgo.add_key_pose(np.eye(3), pos, float(i), cloud) + pgo.smooth_and_update() + + global_map = pgo.build_global_map(voxel_size=0.0) + + # Map x-range should roughly span trajectory + x_min = global_map[:, 0].min() + x_max = global_map[:, 0].max() + x_span = x_max - x_min + + # Should span close to the trajectory length (15m) +/- cloud spread + assert x_span > 10.0, f"X-span {x_span:.1f}m too narrow for 15m trajectory" + assert x_span < 25.0, f"X-span {x_span:.1f}m too wide" diff --git a/dimos/navigation/smart_nav/tests/test_sim_pipeline.py b/dimos/navigation/smart_nav/tests/test_sim_pipeline.py new file mode 100644 index 0000000000..c6f53ca970 --- /dev/null +++ b/dimos/navigation/smart_nav/tests/test_sim_pipeline.py @@ -0,0 +1,144 @@ +# 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. + +"""Integration test: verify modules survive the real blueprint deployment path. + +These tests exercise the actual framework machinery -- pickling, transport wiring, +cross-process communication -- not just direct method calls. +""" + +import time + +import pytest + +from dimos.core.stream import In, Out +from dimos.core.transport import LCMTransport +from dimos.msgs.geometry_msgs.Pose import Pose +from dimos.msgs.geometry_msgs.Quaternion import Quaternion +from dimos.msgs.geometry_msgs.Twist import Twist +from dimos.msgs.geometry_msgs.Vector3 import Vector3 +from dimos.msgs.nav_msgs.Odometry import Odometry +from dimos.navigation.smart_nav.modules.tui_control.tui_control import TUIControlModule +from dimos.simulation.unity.module import UnityBridgeModule + + +@pytest.mark.slow +class TestTransportWiring: + """Test that modules publish/subscribe through real LCM transports.""" + + def test_unity_bridge_publishes_odometry_via_transport(self): + """UnityBridge sim loop should publish through _transport, not .publish().""" + m = UnityBridgeModule(sim_rate=200.0) + + # Wire a real LCM transport to the odometry output + transport = LCMTransport("/_test/smart_nav/odom", Odometry) + m.odometry._transport = transport + + received: list[Odometry] = [] + transport.subscribe(lambda msg: received.append(msg)) + + try: + # Simulate one odometry publish (same code path as _sim_loop) + quat = Quaternion.from_euler(Vector3(0.0, 0.0, 0.0)) + odom = Odometry( + ts=time.time(), + frame_id="map", + child_frame_id="sensor", + pose=Pose( + position=[1.0, 2.0, 0.75], + orientation=[quat.x, quat.y, quat.z, quat.w], + ), + ) + m.odometry._transport.publish(odom) + + # LCM transport delivers asynchronously -- give it a moment + time.sleep(0.1) + assert len(received) >= 1 + assert abs(received[0].x - 1.0) < 0.01 + finally: + transport.stop() + + def test_tui_publishes_twist_via_transport(self): + """TUI module should publish cmd_vel through its transport.""" + m = TUIControlModule(max_speed=2.0, publish_rate=50.0) + + transport = LCMTransport("/_test/smart_nav/tui/cmd_vel", Twist) + m.cmd_vel._transport = transport + + # Also wire way_point so it doesn't error + from dimos.msgs.geometry_msgs.PointStamped import PointStamped + + wp_transport = LCMTransport("/_test/smart_nav/tui/way_point", PointStamped) + m.way_point._transport = wp_transport + + received: list[Twist] = [] + transport.subscribe(lambda msg: received.append(msg)) + + try: + m._handle_key("w") # forward + m.start() + time.sleep(0.15) # let publish loop run a few times + m.stop() + + assert len(received) >= 1 + assert received[-1].linear.x > 0 # forward velocity + finally: + transport.stop() + wp_transport.stop() + + +class TestPortTypeCompatibility: + """Verify that module port types are compatible for autoconnect.""" + + def test_all_stream_types_match(self): + from typing import get_args, get_origin, get_type_hints + + from dimos.navigation.smart_nav.modules.local_planner.local_planner import LocalPlanner + from dimos.navigation.smart_nav.modules.path_follower.path_follower import PathFollower + from dimos.navigation.smart_nav.modules.terrain_analysis.terrain_analysis import ( + TerrainAnalysis, + ) + from dimos.simulation.unity.module import UnityBridgeModule + + def get_streams(cls): + hints = get_type_hints(cls) + streams = {} + for name, hint in hints.items(): + origin = get_origin(hint) + if origin in (In, Out): + direction = "in" if origin is In else "out" + msg_type = get_args(hint)[0] + streams[name] = (direction, msg_type) + return streams + + sim = get_streams(UnityBridgeModule) + terrain = get_streams(TerrainAnalysis) + planner = get_streams(LocalPlanner) + follower = get_streams(PathFollower) + + # Odometry types must match across all consumers + odom_type = sim["odometry"][1] + assert terrain["odometry"][1] == odom_type + assert planner["odometry"][1] == odom_type + assert follower["odometry"][1] == odom_type + + # Path: planner out == follower in + assert planner["path"][1] == follower["path"][1] + + # cmd_vel: follower out == sim in + assert follower["cmd_vel"][1] == sim["cmd_vel"][1] + + # registered_scan: all consumers match + pc_type = terrain["registered_scan"][1] + assert planner["registered_scan"][1] == pc_type diff --git a/dimos/navigation/smart_nav/tests/test_tf_frames.py b/dimos/navigation/smart_nav/tests/test_tf_frames.py new file mode 100644 index 0000000000..8aab24520a --- /dev/null +++ b/dimos/navigation/smart_nav/tests/test_tf_frames.py @@ -0,0 +1,827 @@ +# 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. + +"""Tests for the TF-tree-first transform system. + +Validates: + - Frame constants match REP-105 + - FastLio2 publishes odom→body TF from odometry + - PGO publishes map→odom correction TF + - SimplePlanner queries map→body via TF instead of Odometry stream + - MovementManager queries map→body via TF instead of Odometry stream + - BFS chain composition: map→odom + odom→body = map→body + - Odometry remappings only apply to NativeModules +""" + +from __future__ import annotations + +import math +import threading +import time +from typing import Any, cast +from unittest.mock import MagicMock, patch + +import numpy as np +import pytest +from scipy.spatial.transform import Rotation + +from dimos.msgs.geometry_msgs.PointStamped import PointStamped +from dimos.msgs.geometry_msgs.Quaternion import Quaternion +from dimos.msgs.geometry_msgs.Transform import Transform +from dimos.msgs.geometry_msgs.Vector3 import Vector3 +from dimos.msgs.nav_msgs.Odometry import Odometry +from dimos.navigation.smart_nav.frames import FRAME_BODY, FRAME_MAP, FRAME_ODOM +from dimos.protocol.tf.tf import MultiTBuffer + +# ─── Frame constants ───────────────────────────────────────────────────── + + +class TestFrameConstants: + def test_frame_map(self) -> None: + assert FRAME_MAP == "map" + + def test_frame_odom(self) -> None: + assert FRAME_ODOM == "odom" + + def test_frame_body(self) -> None: + assert FRAME_BODY == "body" + + +# ─── TF chain composition via MultiTBuffer ─────────────────────────────── + + +class TestTFChainComposition: + """Verify that publishing odom→body and map→odom composes to map→body.""" + + def _make_buffer(self) -> MultiTBuffer: + return MultiTBuffer() + + def test_direct_lookup(self) -> None: + buf = self._make_buffer() + tf = Transform( + frame_id=FRAME_ODOM, + child_frame_id=FRAME_BODY, + translation=Vector3(1.0, 2.0, 0.5), + rotation=Quaternion(0.0, 0.0, 0.0, 1.0), + ts=time.time(), + ) + buf.receive_transform(tf) + result = buf.get(FRAME_ODOM, FRAME_BODY) + assert result is not None + assert math.isclose(result.translation.x, 1.0) + assert math.isclose(result.translation.y, 2.0) + assert math.isclose(result.translation.z, 0.5) + + def test_chain_map_odom_body(self) -> None: + """map→odom + odom→body should compose to map→body via BFS.""" + buf = self._make_buffer() + now = time.time() + + # odom→body: robot at (1, 2, 0) in odom frame + buf.receive_transform( + Transform( + frame_id=FRAME_ODOM, + child_frame_id=FRAME_BODY, + translation=Vector3(1.0, 2.0, 0.0), + rotation=Quaternion(0.0, 0.0, 0.0, 1.0), + ts=now, + ) + ) + + # map→odom: correction offset of (10, 20, 0) with identity rotation + buf.receive_transform( + Transform( + frame_id=FRAME_MAP, + child_frame_id=FRAME_ODOM, + translation=Vector3(10.0, 20.0, 0.0), + rotation=Quaternion(0.0, 0.0, 0.0, 1.0), + ts=now, + ) + ) + + # BFS should find map→body + result = buf.get(FRAME_MAP, FRAME_BODY) + assert result is not None + # With identity rotations, translations add up: + # map→body = map→odom(10,20) + odom→body(1,2) = (11,22) + assert math.isclose(result.translation.x, 11.0, abs_tol=0.01) + assert math.isclose(result.translation.y, 22.0, abs_tol=0.01) + + def test_chain_with_rotation(self) -> None: + """map→odom with 90° yaw + odom→body should rotate correctly.""" + buf = self._make_buffer() + now = time.time() + + # odom→body: robot at (1, 0, 0) in odom frame, no rotation + buf.receive_transform( + Transform( + frame_id=FRAME_ODOM, + child_frame_id=FRAME_BODY, + translation=Vector3(1.0, 0.0, 0.0), + rotation=Quaternion(0.0, 0.0, 0.0, 1.0), + ts=now, + ) + ) + + # map→odom: 90° yaw rotation, no translation + yaw_90 = Quaternion.from_euler(Vector3(0.0, 0.0, math.pi / 2)) + buf.receive_transform( + Transform( + frame_id=FRAME_MAP, + child_frame_id=FRAME_ODOM, + translation=Vector3(0.0, 0.0, 0.0), + rotation=yaw_90, + ts=now, + ) + ) + + result = buf.get(FRAME_MAP, FRAME_BODY) + assert result is not None + # odom→body (1,0) rotated 90° around Z → (0,1) in map frame + assert math.isclose(result.translation.x, 0.0, abs_tol=0.05) + assert math.isclose(result.translation.y, 1.0, abs_tol=0.05) + + def test_no_chain_returns_none(self) -> None: + """Querying a frame that hasn't been published should return None.""" + buf = self._make_buffer() + result = buf.get(FRAME_MAP, FRAME_BODY) + assert result is None + + def test_partial_chain_returns_none(self) -> None: + """Only odom→body published, map→body should return None.""" + buf = self._make_buffer() + buf.receive_transform( + Transform( + frame_id=FRAME_ODOM, + child_frame_id=FRAME_BODY, + translation=Vector3(1.0, 0.0, 0.0), + rotation=Quaternion(0.0, 0.0, 0.0, 1.0), + ts=time.time(), + ) + ) + result = buf.get(FRAME_MAP, FRAME_BODY) + assert result is None + + def test_updates_reflect_latest(self) -> None: + """Publishing a new transform should update the chain result.""" + buf = self._make_buffer() + now = time.time() + + buf.receive_transform( + Transform( + frame_id=FRAME_MAP, + child_frame_id=FRAME_ODOM, + translation=Vector3(0.0, 0.0, 0.0), + rotation=Quaternion(0.0, 0.0, 0.0, 1.0), + ts=now, + ) + ) + buf.receive_transform( + Transform( + frame_id=FRAME_ODOM, + child_frame_id=FRAME_BODY, + translation=Vector3(1.0, 0.0, 0.0), + rotation=Quaternion(0.0, 0.0, 0.0, 1.0), + ts=now, + ) + ) + + r1 = buf.get(FRAME_MAP, FRAME_BODY) + assert r1 is not None + assert math.isclose(r1.translation.x, 1.0, abs_tol=0.01) + + # Update odom→body + buf.receive_transform( + Transform( + frame_id=FRAME_ODOM, + child_frame_id=FRAME_BODY, + translation=Vector3(5.0, 3.0, 0.0), + rotation=Quaternion(0.0, 0.0, 0.0, 1.0), + ts=now + 0.1, + ) + ) + + r2 = buf.get(FRAME_MAP, FRAME_BODY) + assert r2 is not None + assert math.isclose(r2.translation.x, 5.0, abs_tol=0.01) + assert math.isclose(r2.translation.y, 3.0, abs_tol=0.01) + + +# ─── FastLio2 TF publishing ────────────────────────────────────────────── + + +class TestFastLio2TF: + """Verify FastLio2 config defaults and TF callback logic.""" + + def test_default_frame_id_is_odom(self) -> None: + from dimos.hardware.sensors.lidar.fastlio2.module import FastLio2Config + + cfg = FastLio2Config() + assert cfg.frame_id == FRAME_ODOM + + def test_default_child_frame_id_is_body(self) -> None: + from dimos.hardware.sensors.lidar.fastlio2.module import FastLio2Config + + cfg = FastLio2Config() + assert cfg.child_frame_id == FRAME_BODY + + def test_on_odom_for_tf_publishes_transform(self) -> None: + """_on_odom_for_tf should publish an odom→body Transform.""" + from dimos.hardware.sensors.lidar.fastlio2.module import FastLio2 + from dimos.msgs.geometry_msgs.Pose import Pose + + with patch.object(FastLio2, "__init__", lambda self, **kw: None): + flio = cast("Any", FastLio2.__new__(FastLio2)) + + flio._tf = MagicMock() + + odom = Odometry( + ts=100.0, + frame_id=FRAME_ODOM, + child_frame_id=FRAME_BODY, + pose=Pose( + position=[3.0, 4.0, 0.5], + orientation=[0.0, 0.0, 0.0, 1.0], + ), + ) + flio._on_odom_for_tf(odom) + + flio.tf.publish.assert_called_once() + tf_arg: Transform = flio.tf.publish.call_args[0][0] + assert tf_arg.frame_id == FRAME_ODOM + assert tf_arg.child_frame_id == FRAME_BODY + assert math.isclose(tf_arg.translation.x, 3.0) + assert math.isclose(tf_arg.translation.y, 4.0) + assert math.isclose(tf_arg.translation.z, 0.5) + assert math.isclose(tf_arg.ts, 100.0) + + +# ─── PGO TF publishing ─────────────────────────────────────────────────── + + +_has_gtsam = True +try: + import gtsam # noqa: F401 +except ImportError: + _has_gtsam = False + + +@pytest.mark.skipif(not _has_gtsam, reason="gtsam not installed") +class TestPGOTF: + """Verify PGO publishes map→odom TF and corrected odometry uses correct frames.""" + + def test_publish_map_odom_tf(self) -> None: + """_publish_map_odom_tf should publish a map→odom Transform.""" + from dimos.navigation.smart_nav.modules.pgo.pgo import PGO + + with patch.object(PGO, "__init__", lambda self, **kw: None): + pgo_mod = cast("Any", PGO.__new__(PGO)) + + pgo_mod._tf = MagicMock() + + # Identity correction (no loop closure yet) + r_offset = np.eye(3) + t_offset = np.array([1.0, 2.0, 0.0]) + pgo_mod._publish_map_odom_tf(r_offset, t_offset, 42.0) + + pgo_mod.tf.publish.assert_called_once() + tf_arg: Transform = pgo_mod.tf.publish.call_args[0][0] + assert tf_arg.frame_id == FRAME_MAP + assert tf_arg.child_frame_id == FRAME_ODOM + assert math.isclose(tf_arg.translation.x, 1.0) + assert math.isclose(tf_arg.translation.y, 2.0) + assert math.isclose(tf_arg.ts, 42.0) + + def test_corrected_odom_uses_frame_constants(self) -> None: + """_publish_corrected_odom should use FRAME_MAP and FRAME_BODY.""" + from dimos.navigation.smart_nav.modules.pgo.pgo import PGO + + with patch.object(PGO, "__init__", lambda self, **kw: None): + pgo_mod = cast("Any", PGO.__new__(PGO)) + + pgo_mod.corrected_odometry = MagicMock() + + r = np.eye(3) + t = np.array([5.0, 6.0, 0.0]) + pgo_mod._publish_corrected_odom(r, t, 99.0) + + pgo_mod.corrected_odometry.publish.assert_called_once() + odom_msg: Odometry = pgo_mod.corrected_odometry.publish.call_args[0][0] + assert odom_msg.frame_id == FRAME_MAP + assert odom_msg.child_frame_id == FRAME_BODY + + def test_start_seeds_identity_map_odom(self) -> None: + """PGO.start() should publish identity map→odom so the chain works immediately.""" + from dimos.navigation.smart_nav.modules.pgo.pgo import PGO, PGOConfig + + with patch.object(PGO, "__init__", lambda self, **kw: None): + pgo_mod = cast("Any", PGO.__new__(PGO)) + + pgo_mod.config = PGOConfig() + pgo_mod._lock = threading.Lock() + pgo_mod._pgo_lock = threading.Lock() + pgo_mod._pgo = None + pgo_mod._has_odom = False + pgo_mod._latest_r = np.eye(3) + pgo_mod._latest_t = np.zeros(3) + pgo_mod._latest_time = 0.0 + pgo_mod._last_global_map_time = 0.0 + pgo_mod._running = False + pgo_mod._thread = None + pgo_mod._tf = MagicMock() + pgo_mod.odometry = MagicMock() + pgo_mod.registered_scan = MagicMock() + pgo_mod.corrected_odometry = MagicMock() + + pgo_mod.start() + + # Should have published identity TF immediately + assert pgo_mod.tf.publish.call_count >= 1 + tf_arg = pgo_mod.tf.publish.call_args_list[0][0][0] + assert tf_arg.frame_id == FRAME_MAP + assert tf_arg.child_frame_id == FRAME_ODOM + assert math.isclose(tf_arg.translation.x, 0.0, abs_tol=1e-6) + assert math.isclose(tf_arg.translation.y, 0.0, abs_tol=1e-6) + assert math.isclose(tf_arg.rotation.w, 1.0, abs_tol=1e-6) + + # Clean up the thread + pgo_mod._running = False + if pgo_mod._thread: + pgo_mod._thread.join(timeout=2.0) + + def test_on_scan_publishes_both_odom_and_tf(self) -> None: + """After _on_scan, both corrected_odometry and map→odom TF should be published.""" + from dimos.navigation.smart_nav.modules.pgo.pgo import PGO, PGOConfig, _SimplePGO + + with patch.object(PGO, "__init__", lambda self, **kw: None): + pgo_mod = cast("Any", PGO.__new__(PGO)) + + cfg = PGOConfig() + pgo_mod.config = cfg + pgo_mod._lock = threading.Lock() + pgo_mod._pgo_lock = threading.Lock() + pgo_mod._pgo = _SimplePGO(cfg) + pgo_mod._has_odom = True + pgo_mod._latest_r = np.eye(3) + pgo_mod._latest_t = np.array([1.0, 2.0, 0.0]) + pgo_mod._latest_time = 1.0 + pgo_mod.corrected_odometry = MagicMock() + pgo_mod._tf = MagicMock() + + # Feed a scan with some points + from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 + + pts = np.random.default_rng(42).standard_normal((100, 3)).astype(np.float32) + cloud = PointCloud2.from_numpy(pts, frame_id="map", timestamp=1.0) + pgo_mod._on_scan(cloud) + + # Both should have been called + pgo_mod.corrected_odometry.publish.assert_called_once() + pgo_mod.tf.publish.assert_called_once() + + # Verify TF is map→odom + tf_arg = pgo_mod.tf.publish.call_args[0][0] + assert tf_arg.frame_id == FRAME_MAP + assert tf_arg.child_frame_id == FRAME_ODOM + + +# ─── SimplePlanner TF query ────────────────────────────────────────────── + + +class TestSimplePlannerTF: + """Verify SimplePlanner queries TF instead of subscribing to Odometry.""" + + def _make_planner(self) -> Any: + from dimos.navigation.smart_nav.modules.simple_planner.simple_planner import ( + Costmap, + SimplePlanner, + SimplePlannerConfig, + ) + + p = SimplePlanner.__new__(SimplePlanner) + p.config = SimplePlannerConfig() + p._lock = threading.Lock() + p._costmap = Costmap( + cell_size=p.config.cell_size, + obstacle_height=p.config.obstacle_height_threshold, + inflation_radius=p.config.inflation_radius, + ) + p._robot_x = 0.0 + p._robot_y = 0.0 + p._robot_z = 0.0 + p._has_odom = False + p._goal_x = None + p._goal_y = None + p._goal_z = 0.0 + p._ref_goal_dist = float("inf") + p._last_progress_time = 0.0 + p._effective_inflation = p.config.inflation_radius + p._cached_path = None + p._last_plan_time = 0.0 + p._last_diag_print = 0.0 + p._last_costmap_pub = 0.0 + p._current_wp = None + p._current_wp_is_goal = False + p._running = False + p._thread = None + p._tf = MagicMock() + p.way_point = MagicMock() + p.goal_path = MagicMock() + p.costmap_cloud = MagicMock() + return p + + def test_no_odometry_port(self) -> None: + """SimplePlanner should not have an odometry In stream.""" + from dimos.navigation.smart_nav.modules.simple_planner.simple_planner import SimplePlanner + + # Check class annotations for In[Odometry] + annotations = {} + for cls in reversed(SimplePlanner.__mro__): + annotations.update(getattr(cls, "__annotations__", {})) + assert "odometry" not in annotations, "SimplePlanner should not have an 'odometry' port" + + def test_query_pose_updates_position(self) -> None: + """_query_pose should update robot position from TF.""" + p = self._make_planner() + + tf_result = Transform( + frame_id=FRAME_MAP, + child_frame_id=FRAME_BODY, + translation=Vector3(3.0, 4.0, 0.5), + rotation=Quaternion(0.0, 0.0, 0.0, 1.0), + ts=time.time(), + ) + p.tf.get.return_value = tf_result + + result = p._query_pose() + assert result is True + assert p._has_odom is True + assert math.isclose(p._robot_x, 3.0) + assert math.isclose(p._robot_y, 4.0) + assert math.isclose(p._robot_z, 0.5) + + def test_query_pose_returns_false_when_no_tf(self) -> None: + """_query_pose should return False when both chains unavailable.""" + p = self._make_planner() + p.tf.get.return_value = None + + result = p._query_pose() + assert result is False + assert p._has_odom is False + + def test_query_pose_falls_back_to_odom_body(self) -> None: + """_query_pose should fall back to odom→body when map→body unavailable.""" + p = self._make_planner() + + odom_tf = Transform( + frame_id=FRAME_ODOM, + child_frame_id=FRAME_BODY, + translation=Vector3(1.0, 2.0, 0.3), + rotation=Quaternion(0.0, 0.0, 0.0, 1.0), + ts=time.time(), + ) + + def _side_effect(parent: str, child: str) -> Transform | None: + if parent == FRAME_MAP: + return None # map→body not available yet + return odom_tf + + p.tf.get.side_effect = _side_effect + + result = p._query_pose() + assert result is True + assert math.isclose(p._robot_x, 1.0) + assert math.isclose(p._robot_y, 2.0) + + def test_replan_once_queries_tf(self) -> None: + """_replan_once should call _query_pose (which queries TF).""" + p = self._make_planner() + + tf_result = Transform( + frame_id=FRAME_MAP, + child_frame_id=FRAME_BODY, + translation=Vector3(0.0, 0.0, 0.0), + rotation=Quaternion(0.0, 0.0, 0.0, 1.0), + ts=time.time(), + ) + p.tf.get.return_value = tf_result + + # No goal set, so _replan_once should return early after querying TF + p._replan_once() + p.tf.get.assert_called_with(FRAME_MAP, FRAME_BODY) + + def test_waypoint_uses_frame_map(self) -> None: + """Published waypoints should use FRAME_MAP as frame_id.""" + p = self._make_planner() + + # Set up state for waypoint publishing + p._has_odom = True + p._goal_x = 5.0 + p._goal_y = 0.0 + p._goal_z = 0.0 + p._cached_path = [(x, 0.0) for x in (0.0, 1.0, 2.0, 3.0, 4.0, 5.0)] + p._current_wp = (2.0, 0.0) + p._current_wp_is_goal = False + + # Robot is very close to the current waypoint → should advance + p._robot_x = 1.9 + p._robot_y = 0.0 + p._maybe_advance_waypoint(1.9, 0.0, 0.0) + + if p.way_point.publish.called: + msg: PointStamped = p.way_point.publish.call_args[0][0] + assert msg.frame_id == FRAME_MAP + + +# ─── SimplePlanner waypoint advance ────────────────────────────────────── + + +class TestWaypointAdvance: + """Verify the waypoint advance logic prevents stopping on intermediate waypoints.""" + + def _make_planner(self) -> Any: + from dimos.navigation.smart_nav.modules.simple_planner.simple_planner import ( + Costmap, + SimplePlanner, + SimplePlannerConfig, + ) + + p = SimplePlanner.__new__(SimplePlanner) + p.config = SimplePlannerConfig( + lookahead_distance=2.0, + waypoint_advance_radius=1.0, + ) + p._lock = threading.Lock() + p._costmap = Costmap(cell_size=0.3, obstacle_height=0.15, inflation_radius=0.2) + p._cached_path = [(x, 0.0) for x in range(20)] + p._current_wp = (4.0, 0.0) + p._current_wp_is_goal = False + p.way_point = MagicMock() + p._tf = MagicMock() + return p + + def test_advance_when_close(self) -> None: + """Waypoint should advance when robot is within advance radius.""" + p = self._make_planner() + # Robot is at (3.5, 0), waypoint is at (4.0, 0) — distance = 0.5 < 1.0 + p._maybe_advance_waypoint(3.5, 0.0, 0.0) + p.way_point.publish.assert_called_once() + # New waypoint should be further ahead + msg: PointStamped = p.way_point.publish.call_args[0][0] + assert msg.x > 4.0 + + def test_no_advance_when_far(self) -> None: + """Waypoint should NOT advance when robot is outside advance radius.""" + p = self._make_planner() + # Robot is at (1.0, 0), waypoint is at (4.0, 0) — distance = 3.0 > 1.0 + p._maybe_advance_waypoint(1.0, 0.0, 0.0) + p.way_point.publish.assert_not_called() + + def test_no_advance_at_goal(self) -> None: + """Waypoint should NOT advance when it IS the final goal.""" + p = self._make_planner() + p._current_wp = (19.0, 0.0) # last point in path + p._current_wp_is_goal = True + p._maybe_advance_waypoint(18.5, 0.0, 0.0) + p.way_point.publish.assert_not_called() + + def test_no_advance_without_cached_path(self) -> None: + """Waypoint should NOT advance when there's no cached path.""" + p = self._make_planner() + p._cached_path = None + p._maybe_advance_waypoint(3.5, 0.0, 0.0) + p.way_point.publish.assert_not_called() + + def test_advance_sets_goal_flag_at_end(self) -> None: + """When advancing reaches the end of the path, is_goal should be True.""" + p = self._make_planner() + # Short path where advance reaches the end + p._cached_path = [(0.0, 0.0), (1.0, 0.0), (2.0, 0.0)] + p._current_wp = (1.0, 0.0) + p._current_wp_is_goal = False + # Robot close to waypoint + p._maybe_advance_waypoint(0.5, 0.0, 0.0) + # Extended lookahead = 2.0 * 1.5 = 3.0, path ends at (2, 0) + # so waypoint should be (2, 0) = last = goal + assert p._current_wp == (2.0, 0.0) + assert p._current_wp_is_goal is True + + def test_advance_uses_extended_lookahead(self) -> None: + """Advanced waypoint should use 1.5x the normal lookahead.""" + p = self._make_planner() + p.config.lookahead_distance = 2.0 + # Robot at (3.5, 0), close to waypoint at (4.0, 0) + # Extended lookahead = 3.0, from robot at 3.5 → should pick point ≥ 3.0m away + # That's (7.0, 0.0) or further (6.5 is 3.0 away from 3.5) + p._maybe_advance_waypoint(3.5, 0.0, 0.0) + if p.way_point.publish.called: + msg = p.way_point.publish.call_args[0][0] + dist = math.hypot(msg.x - 3.5, msg.y - 0.0) + assert dist >= 3.0 - 0.5 # allow for cell discretization + + +# ─── MovementManager TF query ──────────────────────────────────────────── + + +class TestMovementManagerTF: + """Verify MovementManager queries TF instead of subscribing to Odometry.""" + + def _make_mgr(self) -> Any: + from dimos.navigation.smart_nav.modules.movement_manager.movement_manager import ( + MovementManager, + MovementManagerConfig, + ) + + with patch.object(MovementManager, "__init__", lambda self: None): + mgr = cast("Any", MovementManager.__new__(MovementManager)) + mgr.config = MovementManagerConfig() + mgr._lock = threading.Lock() + mgr._teleop_active = False + mgr._timer = None + mgr._timer_gen = 0 + mgr._robot_x = 0.0 + mgr._robot_y = 0.0 + mgr._robot_z = 0.0 + mgr.cmd_vel = MagicMock() + mgr.stop_movement = MagicMock() + mgr.goal = MagicMock() + mgr.way_point = MagicMock() + mgr._tf = MagicMock() + return mgr + + def test_no_odometry_port(self) -> None: + """MovementManager should not have an odometry In stream.""" + from dimos.navigation.smart_nav.modules.movement_manager.movement_manager import ( + MovementManager, + ) + + annotations = {} + for cls in reversed(MovementManager.__mro__): + annotations.update(getattr(cls, "__annotations__", {})) + assert "odometry" not in annotations, "MovementManager should not have an 'odometry' port" + + def test_query_pose_with_tf(self) -> None: + """_query_pose should return position from TF tree.""" + mgr = self._make_mgr() + mgr.tf.get.return_value = Transform( + frame_id=FRAME_MAP, + child_frame_id=FRAME_BODY, + translation=Vector3(7.0, 8.0, 1.0), + rotation=Quaternion(0.0, 0.0, 0.0, 1.0), + ts=time.time(), + ) + + x, y, z = mgr._query_pose() + assert math.isclose(x, 7.0) + assert math.isclose(y, 8.0) + assert math.isclose(z, 1.0) + mgr.tf.get.assert_called_with(FRAME_MAP, FRAME_BODY) + + def test_query_pose_fallback_when_no_tf(self) -> None: + """_query_pose should return cached position when TF unavailable.""" + mgr = self._make_mgr() + mgr._robot_x = 5.0 + mgr._robot_y = 6.0 + mgr._robot_z = 0.5 + mgr.tf.get.return_value = None + + x, y, z = mgr._query_pose() + assert math.isclose(x, 5.0) + assert math.isclose(y, 6.0) + assert math.isclose(z, 0.5) + + def test_cancel_goal_uses_frame_constant(self) -> None: + """_cancel_goal should use FRAME_MAP for the NaN sentinel.""" + mgr = self._make_mgr() + mgr._cancel_goal() + + assert mgr.goal.publish.call_count == 1 + cancel_msg: PointStamped = mgr.goal.publish.call_args[0][0] + assert cancel_msg.frame_id == FRAME_MAP + assert math.isnan(cancel_msg.x) + + +# ─── main.py remapping validation ──────────────────────────────────────── + + +class TestSmartNavRemappings: + """Verify that odometry remappings only apply to NativeModules.""" + + def test_simple_planner_no_odometry_remapping(self) -> None: + """When use_simple_planner=True, no odometry remapping for SimplePlanner.""" + from dimos.navigation.smart_nav.main import smart_nav + from dimos.navigation.smart_nav.modules.simple_planner.simple_planner import SimplePlanner + + bp = smart_nav(use_simple_planner=True) + rmap = bp.remapping_map + assert (SimplePlanner, "odometry") not in rmap, ( + "SimplePlanner should not have an odometry remapping" + ) + + def test_movement_manager_no_odometry_remapping(self) -> None: + """MovementManager should not have an odometry remapping.""" + from dimos.navigation.smart_nav.main import smart_nav + from dimos.navigation.smart_nav.modules.movement_manager.movement_manager import ( + MovementManager, + ) + + bp = smart_nav(use_simple_planner=True) + rmap = bp.remapping_map + assert (MovementManager, "odometry") not in rmap, ( + "MovementManager should not have an odometry remapping" + ) + + def test_terrain_analysis_still_remapped(self) -> None: + """TerrainAnalysis (NativeModule) should still have corrected_odometry remapping.""" + from dimos.navigation.smart_nav.main import smart_nav + from dimos.navigation.smart_nav.modules.terrain_analysis.terrain_analysis import ( + TerrainAnalysis, + ) + + bp = smart_nav(use_simple_planner=True) + rmap = bp.remapping_map + assert (TerrainAnalysis, "odometry") in rmap + assert rmap[(TerrainAnalysis, "odometry")] == "corrected_odometry" + + def test_far_planner_remapped_when_active(self) -> None: + """FarPlanner (NativeModule) should have corrected_odometry remapping.""" + from dimos.navigation.smart_nav.main import smart_nav + from dimos.navigation.smart_nav.modules.far_planner.far_planner import FarPlanner + + bp = smart_nav(use_simple_planner=False) + rmap = bp.remapping_map + assert (FarPlanner, "odometry") in rmap + assert rmap[(FarPlanner, "odometry")] == "corrected_odometry" + + +# ─── PGO correction math ───────────────────────────────────────────────── + + +@pytest.mark.skipif(not _has_gtsam, reason="gtsam not installed") +class TestPGOCorrectionToTF: + """Verify PGO's R/t offset correctly maps to a TF transform.""" + + def test_identity_correction(self) -> None: + """When no loop closure, map→odom should be identity.""" + from dimos.navigation.smart_nav.modules.pgo.pgo import PGO + + with patch.object(PGO, "__init__", lambda self, **kw: None): + pgo_mod = cast("Any", PGO.__new__(PGO)) + pgo_mod._tf = MagicMock() + + r_offset = np.eye(3) + t_offset = np.zeros(3) + pgo_mod._publish_map_odom_tf(r_offset, t_offset, 1.0) + + tf_arg: Transform = pgo_mod.tf.publish.call_args[0][0] + assert math.isclose(tf_arg.translation.x, 0.0, abs_tol=1e-6) + assert math.isclose(tf_arg.translation.y, 0.0, abs_tol=1e-6) + assert math.isclose(tf_arg.translation.z, 0.0, abs_tol=1e-6) + # Quaternion should be identity + assert math.isclose(tf_arg.rotation.w, 1.0, abs_tol=1e-6) + + def test_translation_correction(self) -> None: + """Pure translation correction should appear in the TF.""" + from dimos.navigation.smart_nav.modules.pgo.pgo import PGO + + with patch.object(PGO, "__init__", lambda self, **kw: None): + pgo_mod = cast("Any", PGO.__new__(PGO)) + pgo_mod._tf = MagicMock() + + r_offset = np.eye(3) + t_offset = np.array([0.5, -0.3, 0.0]) + pgo_mod._publish_map_odom_tf(r_offset, t_offset, 1.0) + + tf_arg: Transform = pgo_mod.tf.publish.call_args[0][0] + assert math.isclose(tf_arg.translation.x, 0.5, abs_tol=1e-6) + assert math.isclose(tf_arg.translation.y, -0.3, abs_tol=1e-6) + + def test_rotation_correction(self) -> None: + """Yaw correction should produce correct quaternion in TF.""" + from dimos.navigation.smart_nav.modules.pgo.pgo import PGO + + with patch.object(PGO, "__init__", lambda self, **kw: None): + pgo_mod = cast("Any", PGO.__new__(PGO)) + pgo_mod._tf = MagicMock() + + yaw = math.pi / 6 # 30° + r_offset = Rotation.from_euler("z", yaw).as_matrix() + t_offset = np.zeros(3) + pgo_mod._publish_map_odom_tf(r_offset, t_offset, 1.0) + + tf_arg: Transform = pgo_mod.tf.publish.call_args[0][0] + # Reconstruct yaw from quaternion and verify + q = [tf_arg.rotation.x, tf_arg.rotation.y, tf_arg.rotation.z, tf_arg.rotation.w] + recovered_yaw = Rotation.from_quat(q).as_euler("xyz")[2] + assert math.isclose(recovered_yaw, yaw, abs_tol=1e-4) diff --git a/dimos/navigation/smart_nav/tests/test_waypoint_nav.py b/dimos/navigation/smart_nav/tests/test_waypoint_nav.py new file mode 100644 index 0000000000..817e95dada --- /dev/null +++ b/dimos/navigation/smart_nav/tests/test_waypoint_nav.py @@ -0,0 +1,272 @@ +# 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. + +"""Integration test: waypoint navigation produces path + movement. + +Sets a waypoint at (10, 0) and verifies: +1. TerrainAnalysis produces terrain_map +2. LocalPlanner produces a path toward the goal +3. PathFollower produces non-zero cmd_vel +4. Robot position moves toward the waypoint + +This is the core nav stack test without any exploration planner. +""" + +from __future__ import annotations + +import math +from pathlib import Path +import platform +import threading +import time +from typing import Any + +import numpy as np +import pytest + +from dimos.core.core import rpc +from dimos.core.module import Module, ModuleConfig +from dimos.core.stream import In, Out +from dimos.msgs.geometry_msgs.Pose import Pose +from dimos.msgs.geometry_msgs.Quaternion import Quaternion +from dimos.msgs.geometry_msgs.Transform import Transform +from dimos.msgs.geometry_msgs.Twist import Twist +from dimos.msgs.geometry_msgs.Vector3 import Vector3 +from dimos.msgs.nav_msgs.Odometry import Odometry +from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 + +_NATIVE_DIR = Path(__file__).resolve().parent.parent +_HAS_BINARIES = all( + (_NATIVE_DIR / d / "bin" / name).exists() + for d, name in [ + ("result-terrain-analysis", "terrain_analysis"), + ("result-local-planner", "local_planner"), + ("result-path-follower", "path_follower"), + ] +) +_IS_LINUX_X86 = platform.system() == "Linux" and platform.machine() in ("x86_64", "AMD64") + +pytestmark = [ + pytest.mark.slow, + pytest.mark.skipif(not _IS_LINUX_X86, reason="Native modules require Linux x86_64"), + pytest.mark.skipif(not _HAS_BINARIES, reason="Native binaries not built"), +] + + +def _make_ground_cloud(rx: float, ry: float) -> np.ndarray: + """Flat ground + obstacle wall at x=8 to test path planning around it.""" + pts = [] + # Ground plane + step = 1.0 + for x in np.arange(rx - 12, rx + 12, step): + for y in np.arange(ry - 12, ry + 12, step): + pts.append([x, y, 0.0]) + # Wall obstacle at x=5, y=-2..2, z=0..1 (partial blockage) + for y in np.arange(-2, 2, 0.3): + for z in np.arange(0, 1.0, 0.3): + pts.append([5.0, y, z]) + return np.array(pts, dtype=np.float32) + + +class SimVehicleConfig(ModuleConfig): + sensor_rate: float = 5.0 + sim_rate: float = 50.0 + + +class SimVehicle(Module): + """Kinematic vehicle sim: publishes lidar + odom, integrates cmd_vel.""" + + config: SimVehicleConfig + cmd_vel: In[Twist] + registered_scan: Out[PointCloud2] + odometry: Out[Odometry] + + def __init__(self, **kwargs): # type: ignore[no-untyped-def] + super().__init__(**kwargs) + self.x = 0.0 + self.y = 0.0 + self.z = 0.75 + self.yaw = 0.0 + self._fwd = 0.0 + self._left = 0.0 + self._yr = 0.0 + self._lock = threading.Lock() + self._running = False + self._threads: list[threading.Thread] = [] + + def __getstate__(self) -> dict[str, Any]: + s = super().__getstate__() + for k in ("_lock", "_threads"): + s.pop(k, None) + return s + + def __setstate__(self, s: dict) -> None: + super().__setstate__(s) + self._lock = threading.Lock() + self._threads = [] + + @rpc + def start(self) -> None: + super().start() + self.cmd_vel._transport.subscribe(self._on_cmd) + self._running = True + for fn in (self._sim_loop, self._sensor_loop): + t = threading.Thread(target=fn, daemon=True) + t.start() + self._threads.append(t) + + @rpc + def stop(self) -> None: + self._running = False + for t in self._threads: + t.join(timeout=3) + super().stop() + + def _on_cmd(self, tw: Twist) -> None: + with self._lock: + self._fwd = tw.linear.x + self._left = tw.linear.y + self._yr = tw.angular.z + + def _sim_loop(self) -> None: + dt = 1.0 / self.config.sim_rate + while self._running: + t0 = time.monotonic() + with self._lock: + fwd, left, yr = self._fwd, self._left, self._yr + self.yaw += dt * yr + cy, sy = math.cos(self.yaw), math.sin(self.yaw) + self.x += dt * (cy * fwd - sy * left) + self.y += dt * (sy * fwd + cy * left) + now = time.time() + q = Quaternion.from_euler(Vector3(0.0, 0.0, self.yaw)) + self.odometry._transport.publish( + Odometry( + ts=now, + frame_id="map", + child_frame_id="sensor", + pose=Pose(position=[self.x, self.y, self.z], orientation=[q.x, q.y, q.z, q.w]), + twist=Twist(linear=[fwd, left, 0], angular=[0, 0, yr]), + ) + ) + self.tf.publish( + Transform( + translation=Vector3(self.x, self.y, self.z), + rotation=q, + frame_id="map", + child_frame_id="sensor", + ts=now, + ) + ) + sl = dt - (time.monotonic() - t0) + if sl > 0: + time.sleep(sl) + + def _sensor_loop(self) -> None: + dt = 1.0 / self.config.sensor_rate + while self._running: + now = time.time() + cloud = _make_ground_cloud(self.x, self.y) + self.registered_scan._transport.publish( + PointCloud2.from_numpy(cloud, frame_id="map", timestamp=now) + ) + time.sleep(dt) + + +def test_waypoint_nav_produces_path_and_movement(): + """Send waypoint at (10,0), verify terrain_map + path + non-zero cmd_vel.""" + from dimos.core.coordination.blueprints import autoconnect + from dimos.core.coordination.module_coordinator import ModuleCoordinator + from dimos.msgs.geometry_msgs.PointStamped import PointStamped + from dimos.navigation.smart_nav.modules.local_planner.local_planner import LocalPlanner + from dimos.navigation.smart_nav.modules.path_follower.path_follower import PathFollower + from dimos.navigation.smart_nav.modules.terrain_analysis.terrain_analysis import TerrainAnalysis + + terrain_msgs: list = [] + path_msgs: list = [] + cmd_msgs: list[tuple] = [] + lock = threading.Lock() + + blueprint = autoconnect( + SimVehicle.blueprint(), + TerrainAnalysis.blueprint(), + LocalPlanner.blueprint(autonomy_mode=True), + PathFollower.blueprint(autonomy_mode=True), + ) + coordinator = ModuleCoordinator.build(blueprint) + + terrain = coordinator.get_instance(TerrainAnalysis) + planner = coordinator.get_instance(LocalPlanner) + follower = coordinator.get_instance(PathFollower) + + terrain.terrain_map._transport.subscribe( + lambda m: (lock.acquire(), terrain_msgs.append(1), lock.release()) + ) + planner.path._transport.subscribe( + lambda m: (lock.acquire(), path_msgs.append(1), lock.release()) + ) + follower.cmd_vel._transport.subscribe( + lambda m: ( + lock.acquire(), + cmd_msgs.append((m.linear.x, m.linear.y, m.angular.z)), + lock.release(), + ) + ) + + # Send waypoint after modules warm up + def _send_wp(): + time.sleep(2.0) + wp = PointStamped(x=10.0, y=0.0, z=0.0, frame_id="map") + planner.way_point._transport.publish(wp) + print("[test] Sent waypoint (10, 0)") + + threading.Thread(target=_send_wp, daemon=True).start() + + try: + coordinator.start() + + # Wait up to 20s for all pipeline stages + deadline = time.monotonic() + 20.0 + while time.monotonic() < deadline: + with lock: + ok = len(terrain_msgs) > 0 and len(path_msgs) > 0 and len(cmd_msgs) > 0 + if ok: + break + time.sleep(0.5) + + # Let movement accumulate + time.sleep(5.0) + + with lock: + n_terrain = len(terrain_msgs) + n_path = len(path_msgs) + n_cmd = len(cmd_msgs) + nonzero = [ + (vx, vy, wz) + for vx, vy, wz in cmd_msgs + if abs(vx) > 0.01 or abs(vy) > 0.01 or abs(wz) > 0.01 + ] + + print( + f"[test] terrain_map: {n_terrain}, path: {n_path}, " + f"cmd_vel: {n_cmd} (nonzero: {len(nonzero)})" + ) + + assert n_terrain > 0, "TerrainAnalysis produced no terrain_map" + assert n_path > 0, "LocalPlanner produced no path" + assert n_cmd > 0, "PathFollower produced no cmd_vel" + assert len(nonzero) > 0, f"All {n_cmd} cmd_vel messages were zero — robot not moving" + + finally: + coordinator.stop() diff --git a/dimos/perception/demo_object_scene_registration.py b/dimos/perception/demo_object_scene_registration.py index c9b489f54b..28044dec13 100644 --- a/dimos/perception/demo_object_scene_registration.py +++ b/dimos/perception/demo_object_scene_registration.py @@ -20,7 +20,7 @@ from dimos.hardware.sensors.camera.zed.compat import ZEDCamera from dimos.perception.detection.detectors.yoloe import YoloePromptMode from dimos.perception.object_scene_registration import ObjectSceneRegistrationModule -from dimos.robot.foxglove_bridge import FoxgloveBridge +from dimos.visualization.vis_module import vis_module camera_choice = "zed" @@ -34,7 +34,7 @@ demo_object_scene_registration = autoconnect( camera_module, ObjectSceneRegistrationModule.blueprint(target_frame="world", prompt_mode=YoloePromptMode.LRPC), - FoxgloveBridge.blueprint(), + vis_module("foxglove"), McpServer.blueprint(), McpClient.blueprint(), ).global_config(viewer="foxglove") diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py index 5289ec74de..10ee547635 100644 --- a/dimos/robot/all_blueprints.py +++ b/dimos/robot/all_blueprints.py @@ -73,6 +73,10 @@ "unitree-g1-detection": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_detection:unitree_g1_detection", "unitree-g1-full": "dimos.robot.unitree.g1.blueprints.agentic.unitree_g1_full:unitree_g1_full", "unitree-g1-joystick": "dimos.robot.unitree.g1.blueprints.basic.unitree_g1_joystick:unitree_g1_joystick", + "unitree-g1-nav-basic-onboard": "dimos.robot.unitree.g1.blueprints.navigation.unitree_g1_nav_basic_onboard:unitree_g1_nav_basic_onboard", + "unitree-g1-nav-basic-sim": "dimos.robot.unitree.g1.blueprints.navigation.unitree_g1_nav_basic_sim:unitree_g1_nav_basic_sim", + "unitree-g1-nav-onboard": "dimos.robot.unitree.g1.blueprints.navigation.unitree_g1_nav_onboard:unitree_g1_nav_onboard", + "unitree-g1-nav-sim": "dimos.robot.unitree.g1.blueprints.navigation.unitree_g1_nav_sim:unitree_g1_nav_sim", "unitree-g1-shm": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_shm:unitree_g1_shm", "unitree-g1-sim": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_sim:unitree_g1_sim", "unitree-go2": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2:unitree_go2", @@ -106,6 +110,7 @@ "b1-connection-module": "dimos.robot.unitree.b1.connection.B1ConnectionModule", "camera-module": "dimos.hardware.sensors.camera.module.CameraModule", "cartesian-motion-controller": "dimos.manipulation.control.servo_control.cartesian_motion_controller.CartesianMotionController", + "cmd-vel-mux": "dimos.navigation.smart_nav.modules.movement_manager.movement_manager.MovementManager", "control-coordinator": "dimos.control.coordinator.ControlCoordinator", "cost-mapper": "dimos.mapping.costmapper.CostMapper", "demo-calculator-skill": "dimos.agents.skills.demo_calculator_skill.DemoCalculatorSkill", @@ -117,11 +122,14 @@ "drone-tracking-module": "dimos.robot.drone.drone_tracking_module.DroneTrackingModule", "embedding-memory": "dimos.memory.embedding.EmbeddingMemory", "emitter-module": "dimos.utils.demo_image_encoding.EmitterModule", + "far-planner": "dimos.navigation.smart_nav.modules.far_planner.far_planner.FarPlanner", "fast-lio2": "dimos.hardware.sensors.lidar.fastlio2.module.FastLio2", "foxglove-bridge": "dimos.robot.foxglove_bridge.FoxgloveBridge", "g1-connection": "dimos.robot.unitree.g1.connection.G1Connection", "g1-connection-base": "dimos.robot.unitree.g1.connection.G1ConnectionBase", - "g1-sim-connection": "dimos.robot.unitree.g1.sim.G1SimConnection", + "g1-high-level-dds-sdk": "dimos.robot.unitree.g1.effectors.high_level.dds_sdk.G1HighLevelDdsSdk", + "g1-high-level-web-rtc": "dimos.robot.unitree.g1.effectors.high_level.webrtc.G1HighLevelWebRtc", + "g1-sim-connection": "dimos.robot.unitree.g1.mujoco_sim.G1SimConnection", "go2-connection": "dimos.robot.unitree.go2.connection.GO2Connection", "go2-fleet-connection": "dimos.robot.unitree.go2.fleet_connection.Go2FleetConnection", "google-maps-skill-container": "dimos.agents.skills.google_maps_skill_container.GoogleMapsSkillContainer", @@ -133,6 +141,7 @@ "joystick-module": "dimos.robot.unitree.b1.joystick_module.JoystickModule", "keyboard-teleop": "dimos.robot.unitree.keyboard_teleop.KeyboardTeleop", "keyboard-teleop-module": "dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule", + "local-planner": "dimos.navigation.smart_nav.modules.local_planner.local_planner.LocalPlanner", "manipulation-module": "dimos.manipulation.manipulation_module.ManipulationModule", "map": "dimos.robot.unitree.type.map.Map", "mcp-client": "dimos.agents.mcp.mcp_client.McpClient", @@ -141,7 +150,6 @@ "module-a": "dimos.robot.unitree.demo_error_on_name_conflicts.ModuleA", "module-b": "dimos.robot.unitree.demo_error_on_name_conflicts.ModuleB", "mujoco-sim-module": "dimos.simulation.engines.mujoco_sim_module.MujocoSimModule", - "navigation-module": "dimos.robot.unitree.rosnav.NavigationModule", "navigation-skill-container": "dimos.agents.skills.navigation.NavigationSkillContainer", "object-db-module": "dimos.perception.detection.moduleDB.ObjectDBModule", "object-scene-registration-module": "dimos.perception.object_scene_registration.ObjectSceneRegistrationModule", @@ -149,24 +157,32 @@ "object-tracker3-d": "dimos.perception.object_tracker_3d.ObjectTracker3D", "object-tracking": "dimos.perception.object_tracker.ObjectTracking", "osm-skill": "dimos.agents.skills.osm.OsmSkill", + "path-follower": "dimos.navigation.smart_nav.modules.path_follower.path_follower.PathFollower", "patrolling-module": "dimos.navigation.patrolling.module.PatrollingModule", "perceive-loop-skill": "dimos.perception.perceive_loop_skill.PerceiveLoopSkill", "person-follow-skill-container": "dimos.agents.skills.person_follow.PersonFollowSkillContainer", "person-tracker": "dimos.perception.detection.person_tracker.PersonTracker", + "pgo": "dimos.navigation.smart_nav.modules.pgo.pgo.PGO", "phone-teleop-module": "dimos.teleop.phone.phone_teleop_module.PhoneTeleopModule", "pick-and-place-module": "dimos.manipulation.pick_and_place_module.PickAndPlaceModule", + "preloaded-map-tracker": "dimos.navigation.smart_nav.modules.preloaded_map_tracker.preloaded_map_tracker.PreloadedMapTracker", "quest-teleop-module": "dimos.teleop.quest.quest_teleop_module.QuestTeleopModule", "real-sense-camera": "dimos.hardware.sensors.camera.realsense.camera.RealSenseCamera", "receiver-module": "dimos.utils.demo_image_encoding.ReceiverModule", "reid-module": "dimos.perception.detection.reid.module.ReidModule", "replanning-a-star-planner": "dimos.navigation.replanning_a_star.module.ReplanningAStarPlanner", "rerun-bridge-module": "dimos.visualization.rerun.bridge.RerunBridgeModule", - "ros-nav": "dimos.navigation.rosnav.ROSNav", + "rerun-web-socket-server": "dimos.visualization.rerun.websocket_server.RerunWebSocketServer", "security-module": "dimos.experimental.security_demo.security_module.SecurityModule", "simple-phone-teleop": "dimos.teleop.phone.phone_extensions.SimplePhoneTeleop", + "simple-planner": "dimos.navigation.smart_nav.modules.simple_planner.simple_planner.SimplePlanner", "spatial-memory": "dimos.perception.spatial_perception.SpatialMemory", "speak-skill": "dimos.agents.skills.speak_skill.SpeakSkill", + "tare-planner": "dimos.navigation.smart_nav.modules.tare_planner.tare_planner.TarePlanner", "temporal-memory": "dimos.perception.experimental.temporal_memory.temporal_memory.TemporalMemory", + "terrain-analysis": "dimos.navigation.smart_nav.modules.terrain_analysis.terrain_analysis.TerrainAnalysis", + "terrain-map-ext": "dimos.navigation.smart_nav.modules.terrain_map_ext.terrain_map_ext.TerrainMapExt", + "tui-control-module": "dimos.navigation.smart_nav.modules.tui_control.tui_control.TUIControlModule", "twist-teleop-module": "dimos.teleop.quest.quest_extensions.TwistTeleopModule", "unitree-g1-skill-container": "dimos.robot.unitree.g1.skill_container.UnitreeG1SkillContainer", "unitree-skill-container": "dimos.robot.unitree.unitree_skill_container.UnitreeSkillContainer", diff --git a/dimos/robot/cli/dimos.py b/dimos/robot/cli/dimos.py index 45babfcda4..008e407a17 100644 --- a/dimos/robot/cli/dimos.py +++ b/dimos/robot/cli/dimos.py @@ -217,6 +217,10 @@ def run( cli_config_overrides: dict[str, Any] = ctx.obj + # this is a workaround until we have a proper way to have delayed-module-choice in blueprints + # ex: vis_module(viewer=global_config.viewer) is WRONG (viewer will always be default value) without this patch + global_config.update(**cli_config_overrides) + # Clean stale registry entries stale = cleanup_stale() if stale: @@ -644,17 +648,47 @@ def send( @main.command(name="rerun-bridge") def rerun_bridge_cmd( - viewer_mode: str = typer.Option( - "native", help="Viewer mode: native (desktop), web (browser), none (headless)" - ), memory_limit: str = typer.Option( "25%", help="Memory limit for Rerun viewer (e.g., '4GB', '16GB', '25%')" ), + rerun_open: str = typer.Option( + "native", help="How to open Rerun: one of native, web, both, none" + ), + rerun_web: bool = typer.Option( + True, "--rerun-web/--no-rerun-web", help="Enable/Disable Rerun web server" + ), ) -> None: - """Launch the Rerun visualization bridge.""" - from dimos.visualization.rerun.bridge import run_bridge + """Launch the Rerun visualization bridge. + + Standalone utility: runs the bridge directly in the main process (no + blueprint / worker pool) so users can attach a viewer to existing LCM + traffic without building a full module graph. + """ + import signal + from typing import cast, get_args + + from dimos.protocol.pubsub.impl.lcmpubsub import LCM + from dimos.protocol.service.lcmservice import autoconf + from dimos.visualization.constants import RerunOpenOption + from dimos.visualization.rerun.bridge import RerunBridgeModule + + valid = get_args(RerunOpenOption) + if rerun_open not in valid: + raise typer.BadParameter( + f"rerun_open must be one of {valid}, got {rerun_open!r}", param_hint="--rerun-open" + ) + autoconf(check_only=True) + + bridge = RerunBridgeModule( + memory_limit=memory_limit, + rerun_open=cast("RerunOpenOption", rerun_open), + rerun_web=rerun_web, + pubsubs=[LCM()], + ) + bridge.start() - run_bridge(viewer_mode=viewer_mode, memory_limit=memory_limit) + signal.signal(signal.SIGINT, lambda *_: bridge.stop()) + signal.pause() if __name__ == "__main__": diff --git a/dimos/robot/config.py b/dimos/robot/config.py index 1f225284bf..37c1b99cdc 100644 --- a/dimos/robot/config.py +++ b/dimos/robot/config.py @@ -14,7 +14,7 @@ """Unified robot configuration. -Single source of truth for a robot arm. The URDF/MJCF model file is the +Single source of truth for a robot. The URDF/MJCF model file is the ground truth — joint names, DOF, limits, and link hierarchy are parsed automatically. Generates RobotModelConfig, HardwareComponent, and TaskConfig. """ @@ -22,12 +22,17 @@ from __future__ import annotations from pathlib import Path -from typing import Any +from typing import TYPE_CHECKING, Any from pydantic import BaseModel, Field, PrivateAttr from dimos.robot.model_parser import ModelDescription, parse_model +if TYPE_CHECKING: + from dimos.control.components import HardwareComponent + from dimos.control.coordinator import TaskConfig + from dimos.manipulation.planning.spec.config import RobotModelConfig + class GripperConfig(BaseModel): """Gripper configuration.""" @@ -39,14 +44,6 @@ class GripperConfig(BaseModel): close_position: float = 0.0 -from dimos.control.components import HardwareComponent, HardwareType -from dimos.control.coordinator import TaskConfig -from dimos.manipulation.planning.spec.config import RobotModelConfig -from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped -from dimos.msgs.geometry_msgs.Quaternion import Quaternion -from dimos.msgs.geometry_msgs.Vector3 import Vector3 - - class RobotConfig(BaseModel): """Unified robot configuration — URDF/MJCF is the ground truth. @@ -56,7 +53,18 @@ class RobotConfig(BaseModel): # Required fields name: str model_path: Path - end_effector_link: str + end_effector_link: str | None = None + + # Physical dimensions (meters) + height_clearance: float | None = None # max height + width_clearance: float | None = None # max width + + # These offsets are applied so that odometry at 0,0,0 corresponds roughly with the floor + # Note: these cannot (easily) be calculated from the URDF because + # the URDF doesn't always have an initial robot pose/stance so the + # This is a quality of life offset, not exact + # The key names should match keys in the urdf + internal_odom_offsets: dict[str, Any] = Field(default_factory=dict) # Hardware connection adapter_type: str = "mock" @@ -179,6 +187,16 @@ def coordinator_task_name(self) -> str: def to_robot_model_config(self) -> RobotModelConfig: """Generate RobotModelConfig for ManipulationModule.""" + from dimos.manipulation.planning.spec.config import RobotModelConfig as _RobotModelConfig + from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped + from dimos.msgs.geometry_msgs.Quaternion import Quaternion + from dimos.msgs.geometry_msgs.Vector3 import Vector3 + + if self.end_effector_link is None: + raise ValueError( + f"RobotConfig '{self.name}' has no end_effector_link — " + "cannot generate RobotModelConfig for manipulation." + ) bp = self.base_pose base_pose = PoseStamped( position=Vector3(x=bp[0], y=bp[1], z=bp[2]), @@ -195,7 +213,7 @@ def to_robot_model_config(self) -> RobotModelConfig: ) base_link = self.base_link if self.base_link is not None else self.resolved_base_link - return RobotModelConfig( + return _RobotModelConfig( name=self.name, model_path=self.model_path, base_pose=base_pose, @@ -218,6 +236,8 @@ def to_robot_model_config(self) -> RobotModelConfig: def to_hardware_component(self) -> HardwareComponent: """Generate HardwareComponent for ControlCoordinator.""" + from dimos.control.components import HardwareComponent as _HardwareComponent, HardwareType + self._ensure_prefix() gripper_joints: list[str] = [] if self.gripper and self.gripper.joints: @@ -227,7 +247,7 @@ def to_hardware_component(self) -> HardwareComponent: if self.home_joints is not None: adapter_kwargs.setdefault("initial_positions", self.home_joints) - return HardwareComponent( + return _HardwareComponent( hardware_id=self.name, hardware_type=HardwareType.MANIPULATOR, joints=self.coordinator_joint_names, diff --git a/dimos/robot/drone/blueprints/basic/drone_basic.py b/dimos/robot/drone/blueprints/basic/drone_basic.py index c1838d6ac7..aaf82f6355 100644 --- a/dimos/robot/drone/blueprints/basic/drone_basic.py +++ b/dimos/robot/drone/blueprints/basic/drone_basic.py @@ -20,10 +20,9 @@ from dimos.core.coordination.blueprints import autoconnect from dimos.core.global_config import global_config -from dimos.protocol.pubsub.impl.lcmpubsub import LCM from dimos.robot.drone.camera_module import DroneCameraModule from dimos.robot.drone.connection_module import DroneConnectionModule -from dimos.web.websocket_vis.websocket_vis_module import WebsocketVisModule +from dimos.visualization.vis_module import vis_module def _static_drone_body(rr: Any) -> list[Any]: @@ -60,23 +59,12 @@ def _drone_rerun_blueprint() -> Any: _rerun_config = { "blueprint": _drone_rerun_blueprint, - "pubsubs": [LCM()], "static": { "world/tf/base_link": _static_drone_body, }, } -# Conditional visualization -if global_config.viewer == "foxglove": - from dimos.robot.foxglove_bridge import FoxgloveBridge - - _vis = FoxgloveBridge.blueprint() -elif global_config.viewer.startswith("rerun"): - from dimos.visualization.rerun.bridge import RerunBridgeModule, _resolve_viewer_mode - - _vis = RerunBridgeModule.blueprint(viewer_mode=_resolve_viewer_mode(), **_rerun_config) -else: - _vis = autoconnect() +_vis = vis_module(global_config.viewer, rerun_config=_rerun_config) # Determine connection string based on replay flag connection_string = "udp:0.0.0.0:14550" @@ -92,7 +80,6 @@ def _drone_rerun_blueprint() -> Any: outdoor=False, ), DroneCameraModule.blueprint(camera_intrinsics=[1000.0, 1000.0, 960.0, 540.0]), - WebsocketVisModule.blueprint(), ) __all__ = [ diff --git a/dimos/robot/position_stream.py b/dimos/robot/position_stream.py deleted file mode 100644 index 288753a2f0..0000000000 --- a/dimos/robot/position_stream.py +++ /dev/null @@ -1,161 +0,0 @@ -# Copyright 2025-2026 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. - -""" -Position stream provider for ROS-based robots. - -This module creates a reactive stream of position updates from ROS odometry or pose topics. -""" - -import logging -import time - -from geometry_msgs.msg import PoseStamped -from nav_msgs.msg import Odometry -from rclpy.node import Node -from reactivex import Observable, Subject, operators as ops - -from dimos.utils.logging_config import setup_logger - -logger = setup_logger(level=logging.INFO) - - -class PositionStreamProvider: - """ - A provider for streaming position updates from ROS. - - This class creates an Observable stream of position updates by subscribing - to ROS odometry or pose topics. - """ - - def __init__( - self, - ros_node: Node, - odometry_topic: str = "/odom", - pose_topic: str | None = None, - use_odometry: bool = True, - ) -> None: - """ - Initialize the position stream provider. - - Args: - ros_node: ROS node to use for subscriptions - odometry_topic: Name of the odometry topic (if use_odometry is True) - pose_topic: Name of the pose topic (if use_odometry is False) - use_odometry: Whether to use odometry (True) or pose (False) for position - """ - self.ros_node = ros_node - self.odometry_topic = odometry_topic - self.pose_topic = pose_topic - self.use_odometry = use_odometry - - self._subject = Subject() # type: ignore[var-annotated] - - self.last_position = None - self.last_update_time = None - - self._create_subscription() # type: ignore[no-untyped-call] - - logger.info( - f"PositionStreamProvider initialized with " - f"{'odometry topic' if use_odometry else 'pose topic'}: " - f"{odometry_topic if use_odometry else pose_topic}" - ) - - def _create_subscription(self): # type: ignore[no-untyped-def] - """Create the appropriate ROS subscription based on configuration.""" - if self.use_odometry: - self.subscription = self.ros_node.create_subscription( - Odometry, self.odometry_topic, self._odometry_callback, 10 - ) - logger.info(f"Subscribed to odometry topic: {self.odometry_topic}") - else: - if not self.pose_topic: - raise ValueError("Pose topic must be specified when use_odometry is False") - - self.subscription = self.ros_node.create_subscription( - PoseStamped, self.pose_topic, self._pose_callback, 10 - ) - logger.info(f"Subscribed to pose topic: {self.pose_topic}") - - def _odometry_callback(self, msg: Odometry) -> None: - """ - Process odometry messages and extract position. - - Args: - msg: Odometry message from ROS - """ - x = msg.pose.pose.position.x - y = msg.pose.pose.position.y - - self._update_position(x, y) - - def _pose_callback(self, msg: PoseStamped) -> None: - """ - Process pose messages and extract position. - - Args: - msg: PoseStamped message from ROS - """ - x = msg.pose.position.x - y = msg.pose.position.y - - self._update_position(x, y) - - def _update_position(self, x: float, y: float) -> None: - """ - Update the current position and emit to subscribers. - - Args: - x: X coordinate - y: Y coordinate - """ - current_time = time.time() - position = (x, y) - - if self.last_update_time: - update_rate = 1.0 / (current_time - self.last_update_time) - logger.debug(f"Position update rate: {update_rate:.1f} Hz") - - self.last_position = position # type: ignore[assignment] - self.last_update_time = current_time # type: ignore[assignment] - - self._subject.on_next(position) - logger.debug(f"Position updated: ({x:.2f}, {y:.2f})") - - def get_position_stream(self) -> Observable: # type: ignore[type-arg] - """ - Get an Observable stream of position updates. - - Returns: - Observable that emits (x, y) tuples - """ - return self._subject.pipe( - ops.share() # Share the stream among multiple subscribers - ) - - def get_current_position(self) -> tuple[float, float] | None: - """ - Get the most recent position. - - Returns: - Tuple of (x, y) coordinates, or None if no position has been received - """ - return self.last_position - - def cleanup(self) -> None: - """Clean up resources.""" - if hasattr(self, "subscription") and self.subscription: - self.ros_node.destroy_subscription(self.subscription) - logger.info("Position subscription destroyed") diff --git a/dimos/robot/ros_command_queue.py b/dimos/robot/ros_command_queue.py deleted file mode 100644 index 86115d7780..0000000000 --- a/dimos/robot/ros_command_queue.py +++ /dev/null @@ -1,473 +0,0 @@ -# Copyright 2025-2026 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. - -""" -Queue-based command management system for robot commands. - -This module provides a unified approach to queueing and processing all robot commands, -including WebRTC requests and action client commands. -Commands are processed sequentially and only when the robot is in IDLE state. -""" - -from collections.abc import Callable -from enum import Enum, auto -from queue import Empty, PriorityQueue -import threading -import time -from typing import Any, NamedTuple -import uuid - -from dimos.utils.logging_config import setup_logger - -# Initialize logger for the ros command queue module -logger = setup_logger() - - -class CommandType(Enum): - """Types of commands that can be queued""" - - WEBRTC = auto() # WebRTC API requests - ACTION = auto() # Any action client or function call - - -class WebRTCRequest(NamedTuple): - """Class to represent a WebRTC request in the queue""" - - id: str # Unique ID for tracking - api_id: int # API ID for the command - topic: str # Topic to publish to - parameter: str # Optional parameter string - priority: int # Priority level - timeout: float # How long to wait for this request to complete - - -class ROSCommand(NamedTuple): - """Class to represent a command in the queue""" - - id: str # Unique ID for tracking - cmd_type: CommandType # Type of command - execute_func: Callable # type: ignore[type-arg] # Function to execute the command - params: dict[str, Any] # Parameters for the command (for debugging/logging) - priority: int # Priority level (lower is higher priority) - timeout: float # How long to wait for this command to complete - - -class ROSCommandQueue: - """ - Manages a queue of commands for the robot. - - Commands are executed sequentially, with only one command being processed at a time. - Commands are only executed when the robot is in the IDLE state. - """ - - def __init__( - self, - webrtc_func: Callable, # type: ignore[type-arg] - is_ready_func: Callable[[], bool] | None = None, - is_busy_func: Callable[[], bool] | None = None, - debug: bool = True, - ) -> None: - """ - Initialize the ROSCommandQueue. - - Args: - webrtc_func: Function to send WebRTC requests - is_ready_func: Function to check if the robot is ready for a command - is_busy_func: Function to check if the robot is busy - debug: Whether to enable debug logging - """ - self._webrtc_func = webrtc_func - self._is_ready_func = is_ready_func or (lambda: True) - self._is_busy_func = is_busy_func - self._debug = debug - - # Queue of commands to process - self._queue = PriorityQueue() # type: ignore[var-annotated] - self._current_command = None - self._last_command_time = 0 - - # Last known robot state - self._last_ready_state = None - self._last_busy_state = None - self._stuck_in_busy_since = None - - # Command execution status - self._should_stop = False - self._queue_thread = None - - # Stats - self._command_count = 0 - self._success_count = 0 - self._failure_count = 0 - self._command_history = [] # type: ignore[var-annotated] - - self._max_queue_wait_time = ( - 30.0 # Maximum time to wait for robot to be ready before forcing - ) - - logger.info("ROSCommandQueue initialized") - - def start(self) -> None: - """Start the queue processing thread""" - if self._queue_thread is not None and self._queue_thread.is_alive(): - logger.warning("Queue processing thread already running") - return - - self._should_stop = False - self._queue_thread = threading.Thread(target=self._process_queue, daemon=True) # type: ignore[assignment] - self._queue_thread.start() # type: ignore[attr-defined] - logger.info("Queue processing thread started") - - def stop(self, timeout: float = 2.0) -> None: - """ - Stop the queue processing thread - - Args: - timeout: Maximum time to wait for the thread to stop - """ - if self._queue_thread is None or not self._queue_thread.is_alive(): - logger.warning("Queue processing thread not running") - return - - self._should_stop = True - try: - self._queue_thread.join(timeout=timeout) - if self._queue_thread.is_alive(): - logger.warning(f"Queue processing thread did not stop within {timeout}s") - else: - logger.info("Queue processing thread stopped") - except Exception as e: - logger.error(f"Error stopping queue processing thread: {e}") - - def queue_webrtc_request( - self, - api_id: int, - topic: str | None = None, - parameter: str = "", - request_id: str | None = None, - data: dict[str, Any] | None = None, - priority: int = 0, - timeout: float = 30.0, - ) -> str: - """ - Queue a WebRTC request - - Args: - api_id: API ID for the command - topic: Topic to publish to - parameter: Optional parameter string - request_id: Unique ID for the request (will be generated if not provided) - data: Data to include in the request - priority: Priority level (lower is higher priority) - timeout: Maximum time to wait for the command to complete - - Returns: - str: Unique ID for the request - """ - request_id = request_id or str(uuid.uuid4()) - - # Create a function that will execute this WebRTC request - def execute_webrtc() -> bool: - try: - logger.info(f"Executing WebRTC request: {api_id} (ID: {request_id})") - if self._debug: - logger.debug(f"[WebRTC Queue] SENDING request: API ID {api_id}") - - result = self._webrtc_func( - api_id=api_id, - topic=topic, - parameter=parameter, - request_id=request_id, - data=data, - ) - if not result: - logger.warning(f"WebRTC request failed: {api_id} (ID: {request_id})") - if self._debug: - logger.debug(f"[WebRTC Queue] Request API ID {api_id} FAILED to send") - return False - - if self._debug: - logger.debug(f"[WebRTC Queue] Request API ID {api_id} sent SUCCESSFULLY") - - # Allow time for the robot to process the command - start_time = time.time() - stabilization_delay = 0.5 # Half-second delay for stabilization - time.sleep(stabilization_delay) - - # Wait for the robot to complete the command (timeout check) - while self._is_busy_func() and (time.time() - start_time) < timeout: # type: ignore[misc] - if ( - self._debug and (time.time() - start_time) % 5 < 0.1 - ): # Print every ~5 seconds - logger.debug( - f"[WebRTC Queue] Still waiting on API ID {api_id} - elapsed: {time.time() - start_time:.1f}s" - ) - time.sleep(0.1) - - # Check if we timed out - if self._is_busy_func() and (time.time() - start_time) >= timeout: # type: ignore[misc] - logger.warning(f"WebRTC request timed out: {api_id} (ID: {request_id})") - return False - - wait_time = time.time() - start_time - if self._debug: - logger.debug( - f"[WebRTC Queue] Request API ID {api_id} completed after {wait_time:.1f}s" - ) - - logger.info(f"WebRTC request completed: {api_id} (ID: {request_id})") - return True - except Exception as e: - logger.error(f"Error executing WebRTC request: {e}") - if self._debug: - logger.debug(f"[WebRTC Queue] ERROR processing request: {e}") - return False - - # Create the command and queue it - command = ROSCommand( - id=request_id, - cmd_type=CommandType.WEBRTC, - execute_func=execute_webrtc, - params={"api_id": api_id, "topic": topic, "request_id": request_id}, - priority=priority, - timeout=timeout, - ) - - # Queue the command - self._queue.put((priority, self._command_count, command)) - self._command_count += 1 - if self._debug: - logger.debug( - f"[WebRTC Queue] Added request ID {request_id} for API ID {api_id} - Queue size now: {self.queue_size}" - ) - logger.info(f"Queued WebRTC request: {api_id} (ID: {request_id}, Priority: {priority})") - - return request_id - - def queue_action_client_request( # type: ignore[no-untyped-def] - self, - action_name: str, - execute_func: Callable, # type: ignore[type-arg] - priority: int = 0, - timeout: float = 30.0, - **kwargs, - ) -> str: - """ - Queue any action client request or function - - Args: - action_name: Name of the action for logging/tracking - execute_func: Function to execute the command - priority: Priority level (lower is higher priority) - timeout: Maximum time to wait for the command to complete - **kwargs: Additional parameters to pass to the execute function - - Returns: - str: Unique ID for the request - """ - request_id = str(uuid.uuid4()) - - # Create the command - command = ROSCommand( - id=request_id, - cmd_type=CommandType.ACTION, - execute_func=execute_func, - params={"action_name": action_name, **kwargs}, - priority=priority, - timeout=timeout, - ) - - # Queue the command - self._queue.put((priority, self._command_count, command)) - self._command_count += 1 - - action_params = ", ".join([f"{k}={v}" for k, v in kwargs.items()]) - logger.info( - f"Queued action request: {action_name} (ID: {request_id}, Priority: {priority}, Params: {action_params})" - ) - - return request_id - - def _process_queue(self) -> None: - """Process commands in the queue""" - logger.info("Starting queue processing") - logger.info("[WebRTC Queue] Processing thread started") - - while not self._should_stop: - # Print queue status - self._print_queue_status() - - # Check if we're ready to process a command - if not self._queue.empty() and self._current_command is None: - current_time = time.time() - is_ready = self._is_ready_func() - is_busy = self._is_busy_func() if self._is_busy_func else False - - if self._debug: - logger.debug( - f"[WebRTC Queue] Status: {self.queue_size} requests waiting | Robot ready: {is_ready} | Robot busy: {is_busy}" - ) - - # Track robot state changes - if is_ready != self._last_ready_state: - logger.debug( - f"Robot ready state changed: {self._last_ready_state} -> {is_ready}" - ) - self._last_ready_state = is_ready # type: ignore[assignment] - - if is_busy != self._last_busy_state: - logger.debug(f"Robot busy state changed: {self._last_busy_state} -> {is_busy}") - self._last_busy_state = is_busy # type: ignore[assignment] - - # If the robot has transitioned to busy, record the time - if is_busy: - self._stuck_in_busy_since = current_time # type: ignore[assignment] - else: - self._stuck_in_busy_since = None - - # Check if we've been waiting too long for the robot to be ready - force_processing = False - if ( - not is_ready - and is_busy - and self._stuck_in_busy_since is not None - and current_time - self._stuck_in_busy_since > self._max_queue_wait_time - ): - logger.warning( - f"Robot has been busy for {current_time - self._stuck_in_busy_since:.1f}s, " - f"forcing queue to continue" - ) - force_processing = True - - # Process the next command if ready or forcing - if is_ready or force_processing: - if self._debug and is_ready: - logger.debug("[WebRTC Queue] Robot is READY for next command") - - try: - # Get the next command - _, _, command = self._queue.get(block=False) - self._current_command = command - self._last_command_time = current_time # type: ignore[assignment] - - # Log the command - cmd_info = f"ID: {command.id}, Type: {command.cmd_type.name}" - if command.cmd_type == CommandType.WEBRTC: - api_id = command.params.get("api_id") - cmd_info += f", API: {api_id}" - if self._debug: - logger.debug(f"[WebRTC Queue] DEQUEUED request: API ID {api_id}") - elif command.cmd_type == CommandType.ACTION: - action_name = command.params.get("action_name") - cmd_info += f", Action: {action_name}" - if self._debug: - logger.debug(f"[WebRTC Queue] DEQUEUED action: {action_name}") - - forcing_str = " (FORCED)" if force_processing else "" - logger.info(f"Processing command{forcing_str}: {cmd_info}") - - # Execute the command - try: - # Where command execution occurs - success = command.execute_func() - - if success: - self._success_count += 1 - logger.info(f"Command succeeded: {cmd_info}") - if self._debug: - logger.debug( - f"[WebRTC Queue] Command {command.id} marked as COMPLETED" - ) - else: - self._failure_count += 1 - logger.warning(f"Command failed: {cmd_info}") - if self._debug: - logger.debug(f"[WebRTC Queue] Command {command.id} FAILED") - - # Record command history - self._command_history.append( - { - "id": command.id, - "type": command.cmd_type.name, - "params": command.params, - "success": success, - "time": time.time() - self._last_command_time, - } - ) - - except Exception as e: - self._failure_count += 1 - logger.error(f"Error executing command: {e}") - if self._debug: - logger.debug(f"[WebRTC Queue] ERROR executing command: {e}") - - # Mark the command as complete - self._current_command = None - if self._debug: - logger.debug( - "[WebRTC Queue] Adding 0.5s stabilization delay before next command" - ) - time.sleep(0.5) - - except Empty: - pass - - # Sleep to avoid busy-waiting - time.sleep(0.1) - - logger.info("Queue processing stopped") - - def _print_queue_status(self) -> None: - """Print the current queue status""" - current_time = time.time() - - # Only print once per second to avoid spamming the log - if current_time - self._last_command_time < 1.0 and self._current_command is None: - return - - is_ready = self._is_ready_func() - self._is_busy_func() if self._is_busy_func else False - queue_size = self.queue_size - - # Get information about the current command - current_command_info = "None" - if self._current_command is not None: - current_command_info = f"{self._current_command.cmd_type.name}" - if self._current_command.cmd_type == CommandType.WEBRTC: - api_id = self._current_command.params.get("api_id") - current_command_info += f" (API: {api_id})" - elif self._current_command.cmd_type == CommandType.ACTION: - action_name = self._current_command.params.get("action_name") - current_command_info += f" (Action: {action_name})" - - # Print the status - status = ( - f"Queue: {queue_size} items | " - f"Robot: {'READY' if is_ready else 'BUSY'} | " - f"Current: {current_command_info} | " - f"Stats: {self._success_count} OK, {self._failure_count} FAIL" - ) - - logger.debug(status) - self._last_command_time = current_time # type: ignore[assignment] - - @property - def queue_size(self) -> int: - """Get the number of commands in the queue""" - return self._queue.qsize() - - @property - def current_command(self) -> ROSCommand | None: - """Get the current command being processed""" - return self._current_command diff --git a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic.py b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic.py index 31df97c417..98248916ea 100644 --- a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic.py +++ b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic.py @@ -16,7 +16,6 @@ """Basic G1 stack: base sensors plus real robot connection and ROS nav.""" from dimos.core.coordination.blueprints import autoconnect -from dimos.navigation.rosnav import ROSNav from dimos.robot.unitree.g1.blueprints.primitive.uintree_g1_primitive_no_nav import ( uintree_g1_primitive_no_nav, ) @@ -25,7 +24,6 @@ unitree_g1_basic = autoconnect( uintree_g1_primitive_no_nav, G1Connection.blueprint(), - ROSNav.blueprint(), ) __all__ = ["unitree_g1_basic"] diff --git a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py index aff7684daf..32d2d52b8b 100644 --- a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py +++ b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py @@ -20,7 +20,7 @@ from dimos.robot.unitree.g1.blueprints.primitive.uintree_g1_primitive_no_nav import ( uintree_g1_primitive_no_nav, ) -from dimos.robot.unitree.g1.sim import G1SimConnection +from dimos.robot.unitree.g1.mujoco_sim import G1SimConnection unitree_g1_basic_sim = autoconnect( uintree_g1_primitive_no_nav, diff --git a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_onboard.py b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_onboard.py new file mode 100644 index 0000000000..f395f1fd21 --- /dev/null +++ b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_onboard.py @@ -0,0 +1,111 @@ +#!/usr/bin/env python3 +# Copyright 2025-2026 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. + +"""G1 nav onboard — FAR planner + PGO loop closure + local obstacle avoidance. + +Full navigation stack on real hardware with: +- FAR visibility-graph global route planner +- PGO pose graph optimization with loop closure detection (GTSAM iSAM2) +- Local planner for reactive obstacle avoidance +- Path follower for velocity control +- FastLio2 SLAM from Livox Mid-360 lidar +- G1HighLevelDdsSdk for robot velocity commands + +Odometry routing (per CMU ICRA 2022 Fig. 11): +- Local path modules (LocalPlanner, PathFollower, SensorScanGen): + use raw odometry — they follow paths in the local odometry frame. +- Global/terrain modules (FarPlanner, MovementManager, TerrainAnalysis): + use PGO corrected_odometry — they need globally consistent positions + for terrain classification, visibility graphs, and goal coordinates. + +Data flow: + Click → MovementManager (corrected_odom) → goal → FarPlanner (corrected_odom) + → way_point → LocalPlanner (raw odom) → path → PathFollower (raw odom) + → nav_cmd_vel → MovementManager → cmd_vel → G1HighLevelDdsSdk + + registered_scan + odometry → PGO → corrected_odometry + global_map +""" + +from __future__ import annotations + +import os + +from dimos.core.coordination.blueprints import autoconnect +from dimos.core.global_config import global_config +from dimos.hardware.sensors.lidar.fastlio2.module import FastLio2 +from dimos.navigation.smart_nav.main import smart_nav, smart_nav_rerun_config +from dimos.robot.unitree.g1.config import G1 +from dimos.robot.unitree.g1.effectors.high_level.dds_sdk import G1HighLevelDdsSdk +from dimos.robot.unitree.g1.g1_rerun import ( + g1_odometry_tf_override, + g1_static_robot, +) +from dimos.visualization.vis_module import vis_module + +unitree_g1_nav_onboard = ( + autoconnect( + FastLio2.blueprint( + host_ip=os.getenv("LIDAR_HOST_IP", "192.168.123.164"), + lidar_ip=os.getenv("LIDAR_IP", "192.168.123.120"), + mount=G1.internal_odom_offsets["mid360_link"], + map_freq=1.0, + config="lio_autonomy.yaml", + ), + smart_nav( + use_simple_planner=True, + vehicle_height=G1.height_clearance, + max_speed=0.5, + terrain_analysis={ + "obstacle_height_threshold": 0.01, + "ground_height_threshold": 0.01, + }, + simple_planner={ + "cell_size": 0.3, + "obstacle_height_threshold": 0.20, + "inflation_radius": 0.4, + "lookahead_distance": 2.0, + "replan_rate": 5.0, + "replan_cooldown": 2.0, + }, + far_planner={ + "sensor_range": 15.0, + "is_static_env": False, + "converge_dist": 1.5, + }, + ), + G1HighLevelDdsSdk.blueprint(), + vis_module( + viewer_backend=global_config.viewer, + rerun_config=smart_nav_rerun_config( + { + "visual_override": {"world/odometry": g1_odometry_tf_override}, + "static": {"world/tf/robot": g1_static_robot}, + "memory_limit": "1GB", + } + ), + ), + ) + .remappings( + [ + # FastLio2 outputs "lidar"; SmartNav modules expect "registered_scan" + (FastLio2, "lidar", "registered_scan"), + (FastLio2, "global_map", "global_map_fastlio"), + ] + ) + .global_config(n_workers=12, robot_model="unitree_g1") +) + + +__all__ = ["unitree_g1_nav_onboard"] diff --git a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_sim.py b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_sim.py new file mode 100644 index 0000000000..6db9efaeb1 --- /dev/null +++ b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_sim.py @@ -0,0 +1,128 @@ +#!/usr/bin/env python3 +# Copyright 2025-2026 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. + +"""G1 nav sim — SimplePlanner + PGO loop closure + local obstacle avoidance. + +Full navigation stack with: +- SimplePlanner grid-based A* global route planner +- PGO pose graph optimization with loop closure detection (GTSAM iSAM2) +- Local planner for reactive obstacle avoidance +- Path follower for velocity control + +Odometry routing (per CMU ICRA 2022 Fig. 11): +- Local path modules (LocalPlanner, PathFollower, SensorScanGen): + use raw odometry — they follow paths in the local odometry frame. +- Global/terrain modules (SimplePlanner, MovementManager, TerrainAnalysis): + use PGO corrected_odometry — they need globally consistent positions + for terrain classification, costmap building, and goal coordinates. + +Data flow: + Click → MovementManager (corrected_odom) → goal → SimplePlanner (corrected_odom) + → way_point → LocalPlanner (raw odom) → path → PathFollower (raw odom) + → nav_cmd_vel → MovementManager → cmd_vel → UnityBridgeModule + + registered_scan + odometry → PGO → corrected_odometry + global_map +""" + +from __future__ import annotations + +from typing import Any + +from dimos.core.coordination.blueprints import autoconnect +from dimos.core.global_config import global_config +from dimos.navigation.smart_nav.main import smart_nav, smart_nav_rerun_config +from dimos.robot.unitree.g1.g1_rerun import g1_static_robot +from dimos.simulation.unity.module import UnityBridgeModule +from dimos.visualization.vis_module import vis_module + + +def _rerun_blueprint() -> Any: + import rerun.blueprint as rrb + + return rrb.Blueprint( + rrb.Vertical( + rrb.Spatial3DView( + origin="world", + name="3D", + eye_controls=rrb.EyeControls3D( + position=(0.0, 0.0, 20.0), + look_target=(0.0, 0.0, 0.0), + eye_up=(0.0, 0.0, 1.0), + ), + ), + ), + collapse_panels=True, + ) + + +vehicle_height = 1.24 +unitree_g1_nav_sim = ( + autoconnect( + UnityBridgeModule.blueprint( + unity_binary="", + unity_scene="home_building_1", + vehicle_height=vehicle_height, + ), + smart_nav( + use_simple_planner=True, + vehicle_height=vehicle_height, + terrain_analysis={ + "obstacle_height_threshold": 0.1, + "ground_height_threshold": 0.05, + "max_relative_z": 0.3, + "min_relative_z": -1.5, + }, + local_planner={ + "max_speed": 2.0, + "autonomy_speed": 2.0, + "obstacle_height_threshold": 0.1, + "max_relative_z": 0.3, + "min_relative_z": -1.5, + "freeze_ang": 180.0, + "two_way_drive": False, + }, + path_follower={ + "max_speed": 2.0, + "autonomy_speed": 2.0, + "max_acceleration": 4.0, + "slow_down_distance_threshold": 0.5, + "omni_dir_goal_threshold": 0.5, + "two_way_drive": False, + }, + ), + vis_module( + viewer_backend=global_config.viewer, + rerun_config=smart_nav_rerun_config( + { + "blueprint": _rerun_blueprint, + "visual_override": { + "world/camera_info": UnityBridgeModule.rerun_suppress_camera_info, + }, + "static": { + "world/color_image": UnityBridgeModule.rerun_static_pinhole, + "world/tf/robot": g1_static_robot, + }, + } + ), + ), + ) + .remappings( + [ + # Unity needs the extended (persistent) terrain map for Z-height, not the local one + (UnityBridgeModule, "terrain_map", "terrain_map_ext"), + ] + ) + .global_config(n_workers=8, robot_model="unitree_g1", simulation=True) +) diff --git a/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_shm.py b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_shm.py index dd135a60a1..4941abad38 100644 --- a/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_shm.py +++ b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_shm.py @@ -17,10 +17,11 @@ from dimos.constants import DEFAULT_CAPACITY_COLOR_IMAGE from dimos.core.coordination.blueprints import autoconnect +from dimos.core.global_config import global_config from dimos.core.transport import pSHMTransport from dimos.msgs.sensor_msgs.Image import Image -from dimos.robot.foxglove_bridge import FoxgloveBridge from dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1 import unitree_g1 +from dimos.visualization.vis_module import vis_module unitree_g1_shm = autoconnect( unitree_g1.transports( @@ -30,10 +31,9 @@ ), } ), - FoxgloveBridge.blueprint( - shm_channels=[ - "/color_image#sensor_msgs.Image", - ] + vis_module( + viewer_backend=global_config.viewer, + foxglove_config={"shm_channels": ["/color_image#sensor_msgs.Image"]}, ), ) diff --git a/dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py b/dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py index 67eec79edd..5a94a2e525 100644 --- a/dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py +++ b/dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py @@ -40,8 +40,7 @@ from dimos.navigation.frontier_exploration.wavefront_frontier_goal_selector import ( WavefrontFrontierExplorer, ) -from dimos.protocol.pubsub.impl.lcmpubsub import LCM -from dimos.web.websocket_vis.websocket_vis_module import WebsocketVisModule +from dimos.visualization.vis_module import vis_module def _convert_camera_info(camera_info: Any) -> Any: @@ -98,7 +97,6 @@ def _g1_rerun_blueprint() -> Any: rerun_config = { "blueprint": _g1_rerun_blueprint, - "pubsubs": [LCM()], "visual_override": { "world/camera_info": _convert_camera_info, "world/global_map": _convert_global_map, @@ -109,18 +107,7 @@ def _g1_rerun_blueprint() -> Any: }, } -if global_config.viewer == "foxglove": - from dimos.robot.foxglove_bridge import FoxgloveBridge - - _with_vis = autoconnect(FoxgloveBridge.blueprint()) -elif global_config.viewer.startswith("rerun"): - from dimos.visualization.rerun.bridge import RerunBridgeModule, _resolve_viewer_mode - - _with_vis = autoconnect( - RerunBridgeModule.blueprint(viewer_mode=_resolve_viewer_mode(), **rerun_config) - ) -else: - _with_vis = autoconnect() +_with_vis = vis_module(viewer_backend=global_config.viewer, rerun_config=rerun_config) def _create_webcam() -> Webcam: @@ -155,8 +142,6 @@ def _create_webcam() -> Webcam: VoxelGridMapper.blueprint(voxel_size=0.1), CostMapper.blueprint(), WavefrontFrontierExplorer.blueprint(), - # Visualization - WebsocketVisModule.blueprint(), ) .global_config(n_workers=4, robot_model="unitree_g1") .transports( @@ -165,7 +150,6 @@ def _create_webcam() -> Webcam: ("cmd_vel", Twist): LCMTransport("/cmd_vel", Twist), # State estimation from ROS ("state_estimation", Odometry): LCMTransport("/state_estimation", Odometry), - # Odometry output from ROSNavigationModule ("odom", PoseStamped): LCMTransport("/odom", PoseStamped), # Navigation module topics from nav_bot ("goal_req", PoseStamped): LCMTransport("/goal_req", PoseStamped), diff --git a/dimos/robot/unitree/g1/config.py b/dimos/robot/unitree/g1/config.py new file mode 100644 index 0000000000..8f8aaaad01 --- /dev/null +++ b/dimos/robot/unitree/g1/config.py @@ -0,0 +1,36 @@ +# 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. + +"""G1 physical description and sensor odometry offsets.""" + +from __future__ import annotations + +import math +from pathlib import Path + +from dimos.msgs.geometry_msgs.Pose import Pose +from dimos.msgs.geometry_msgs.Quaternion import Quaternion +from dimos.msgs.geometry_msgs.Vector3 import Vector3 +from dimos.robot.config import RobotConfig + +G1 = RobotConfig( + name="unitree_g1", + model_path=Path(__file__).parent / "g1.urdf", + height_clearance=1.2, + width_clearance=0.6, + internal_odom_offsets={ + # Mid-360 lidar: 1.2 m above ground, mounted upside-down (180° around X). + "mid360_link": Pose(0.0, 0.0, 1.2, *Quaternion.from_euler(Vector3(math.pi, -0.1, 0.0))), + }, +) diff --git a/dimos/robot/unitree/g1/effectors/high_level/dds_sdk.py b/dimos/robot/unitree/g1/effectors/high_level/dds_sdk.py new file mode 100644 index 0000000000..b72d20e4ca --- /dev/null +++ b/dimos/robot/unitree/g1/effectors/high_level/dds_sdk.py @@ -0,0 +1,436 @@ +# Copyright 2025-2026 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. + +"""G1 high-level control via native Unitree SDK2 (DDS).""" + +import difflib +from enum import IntEnum +import json +import threading +import time +from typing import Any + +from reactivex.disposable import Disposable +from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import ( # type: ignore[import-not-found] + MotionSwitcherClient, +) +from unitree_sdk2py.core.channel import ChannelFactoryInitialize # type: ignore[import-not-found] +from unitree_sdk2py.g1.loco.g1_loco_api import ( # type: ignore[import-not-found] + ROBOT_API_ID_LOCO_GET_BALANCE_MODE, + ROBOT_API_ID_LOCO_GET_FSM_ID, + ROBOT_API_ID_LOCO_GET_FSM_MODE, +) +from unitree_sdk2py.g1.loco.g1_loco_client import LocoClient # type: ignore[import-not-found] + +from dimos.agents.annotation import skill +from dimos.core.core import rpc +from dimos.core.global_config import GlobalConfig, global_config +from dimos.core.module import Module, ModuleConfig +from dimos.core.stream import In +from dimos.msgs.geometry_msgs.Twist import Twist +from dimos.msgs.geometry_msgs.Vector3 import Vector3 +from dimos.robot.unitree.g1.effectors.high_level.high_level_spec import HighLevelG1Spec +from dimos.utils.logging_config import setup_logger + +logger = setup_logger() + +_LOCO_API_IDS = { + "GET_FSM_ID": ROBOT_API_ID_LOCO_GET_FSM_ID, + "GET_FSM_MODE": ROBOT_API_ID_LOCO_GET_FSM_MODE, + "GET_BALANCE_MODE": ROBOT_API_ID_LOCO_GET_BALANCE_MODE, +} + + +# G1 Arm Actions - all use api_id 7106 on topic "rt/api/arm/request" +G1_ARM_CONTROLS = [ + ("Handshake", 27, "Perform a handshake gesture with the right hand."), + ("HighFive", 18, "Give a high five with the right hand."), + ("Hug", 19, "Perform a hugging gesture with both arms."), + ("HighWave", 26, "Wave with the hand raised high."), + ("Clap", 17, "Clap hands together."), + ("FaceWave", 25, "Wave near the face level."), + ("LeftKiss", 12, "Blow a kiss with the left hand."), + ("ArmHeart", 20, "Make a heart shape with both arms overhead."), + ("RightHeart", 21, "Make a heart gesture with the right hand."), + ("HandsUp", 15, "Raise both hands up in the air."), + ("XRay", 24, "Hold arms in an X-ray pose position."), + ("RightHandUp", 23, "Raise only the right hand up."), + ("Reject", 22, "Make a rejection or 'no' gesture."), + ("CancelAction", 99, "Cancel any current arm action and return hands to neutral position."), +] + +# G1 Movement Modes - all use api_id 7101 on topic "rt/api/sport/request" +G1_MODE_CONTROLS = [ + ("WalkMode", 500, "Switch to normal walking mode."), + ("WalkControlWaist", 501, "Switch to walking mode with waist control."), + ("RunMode", 801, "Switch to running mode."), +] + +_ARM_COMMANDS: dict[str, tuple[int, str]] = { + name: (id_, description) for name, id_, description in G1_ARM_CONTROLS +} + +_MODE_COMMANDS: dict[str, tuple[int, str]] = { + name: (id_, description) for name, id_, description in G1_MODE_CONTROLS +} + +_ARM_COMMANDS_DOC = "\n".join(f'- "{name}": {desc}' for name, (_, desc) in _ARM_COMMANDS.items()) +_MODE_COMMANDS_DOC = "\n".join(f'- "{name}": {desc}' for name, (_, desc) in _MODE_COMMANDS.items()) + + +class FsmState(IntEnum): + ZERO_TORQUE = 0 + DAMP = 1 + SIT = 3 + AI_MODE = 200 + LIE_TO_STANDUP = 702 + SQUAT_STANDUP_TOGGLE = 706 + + +# Module +class G1HighLevelDdsSdkConfig(ModuleConfig): + ip: str | None = None + network_interface: str = "eth0" + connection_mode: str = "ai" + ai_standup: bool = True + motion_switcher_timeout: float = 5.0 + loco_client_timeout: float = 10.0 + cmd_vel_timeout: float = 0.2 + + +class G1HighLevelDdsSdk(Module, HighLevelG1Spec): + """G1 high-level control module using the native Unitree SDK2 over DDS. + + Suitable for onboard control running directly on the robot. + """ + + cmd_vel: In[Twist] + config: G1HighLevelDdsSdkConfig + + # Primary timing knob — individual delays in methods are fractions of this. + _standup_step_delay: float = 3.0 + + def __init__(self, *args: Any, g: GlobalConfig = global_config, **kwargs: Any) -> None: + super().__init__(*args, g=g, **kwargs) + self._global_config = g + self._stop_timer: threading.Timer | None = None + self._running = False + self._mode_selected = False + self.motion_switcher: Any = None + self.loco_client: Any = None + + # lifecycle + + @rpc + def start(self) -> None: + super().start() + + network_interface = self.config.network_interface + + # Initialise DDS channel factory + logger.info(f"Initializing DDS on interface: {network_interface}") + ChannelFactoryInitialize(0, network_interface) + + # Motion switcher (required before LocoClient commands work) + self.motion_switcher = MotionSwitcherClient() + self.motion_switcher.SetTimeout(self.config.motion_switcher_timeout) + self.motion_switcher.Init() + logger.info("Motion switcher initialized") + + # Locomotion client + self.loco_client = LocoClient() + self.loco_client.SetTimeout(self.config.loco_client_timeout) + self.loco_client.Init() + + self.loco_client._RegistApi(_LOCO_API_IDS["GET_FSM_ID"], 0) + self.loco_client._RegistApi(_LOCO_API_IDS["GET_FSM_MODE"], 0) + self.loco_client._RegistApi(_LOCO_API_IDS["GET_BALANCE_MODE"], 0) + + self._select_motion_mode() + self._running = True + + # Stream._transport is the only way to check if a port is wired; + # there is no public API for this yet (see dimos/core/stream.py). + if self.cmd_vel._transport is not None: + self.register_disposable(Disposable(self.cmd_vel.subscribe(self.move))) + logger.info("G1 DDS SDK connection started") + + @rpc + def stop(self) -> None: + if self._stop_timer: + self._stop_timer.cancel() + self._stop_timer = None + + if self.loco_client is not None: + try: + self.loco_client.StopMove() + except Exception as e: + logger.error(f"Error stopping robot: {e}") + + self._running = False + logger.info("G1 DDS SDK connection stopped") + super().stop() + + # HighLevelG1Spec + + @rpc + def move(self, twist: Twist, duration: float = 0.0) -> bool: + assert self.loco_client is not None + vx = twist.linear.x + vy = twist.linear.y + vyaw = twist.angular.z + + if self._stop_timer: + self._stop_timer.cancel() + self._stop_timer = None + + try: + if duration > 0: + logger.info(f"Moving: vx={vx}, vy={vy}, vyaw={vyaw}, duration={duration}") + code = self.loco_client.SetVelocity(vx, vy, vyaw, duration) + if code != 0: + logger.warning(f"SetVelocity returned code: {code}") + return False + else: + + def auto_stop() -> None: + try: + logger.debug("Auto-stop timer triggered") + self.loco_client.StopMove() + except Exception as e: + logger.error(f"Auto-stop failed: {e}") + + # Send move command before starting the timeout timer to avoid + # a race where the timer fires before the move is sent. + self.loco_client.Move(vx, vy, vyaw, continous_move=True) + + self._stop_timer = threading.Timer(self.config.cmd_vel_timeout, auto_stop) + self._stop_timer.daemon = True + self._stop_timer.start() + + return True + except Exception as e: + logger.error(f"Failed to send movement command: {e}") + return False + + @rpc + def get_state(self) -> str: + fsm_id = self._get_fsm_id() + if fsm_id is None: + return "Unknown (query failed)" + try: + return FsmState(fsm_id).name + except ValueError: + return f"UNKNOWN_{fsm_id}" + + @rpc + def publish_request(self, topic: str, data: dict[str, Any]) -> dict[str, Any]: + logger.info(f"Publishing request to topic: {topic} with data: {data}") + assert self.loco_client is not None + + api_id = data.get("api_id") + parameter = data.get("parameter", {}) + + try: + if api_id == 7101: # SET_FSM_ID + fsm_id = parameter.get("data", 0) + code = self.loco_client.SetFsmId(fsm_id) + return {"code": code} + elif api_id == 7105: # SET_VELOCITY + velocity = parameter.get("velocity", [0, 0, 0]) + dur = parameter.get("duration", 1.0) + code = self.loco_client.SetVelocity(velocity[0], velocity[1], velocity[2], dur) + return {"code": code} + else: + logger.warning(f"Unsupported API ID: {api_id}") + return {"code": -1, "error": "unsupported_api"} + except Exception as e: + logger.error(f"publish_request failed: {e}") + return {"code": -1, "error": str(e)} + + @rpc + def stand_up(self) -> bool: + assert self.loco_client is not None + try: + logger.info(f"Current state before stand_up: {self.get_state()}") + + if self.config.ai_standup: + fsm_id = self._get_fsm_id() + if fsm_id == FsmState.ZERO_TORQUE: + logger.info("Robot in zero torque, enabling damp mode...") + self.loco_client.SetFsmId(FsmState.DAMP) + time.sleep(self._standup_step_delay / 3) + if fsm_id != FsmState.AI_MODE: + logger.info("Starting AI mode...") + self.loco_client.SetFsmId(FsmState.AI_MODE) + time.sleep(self._standup_step_delay / 2) + else: + logger.info("Enabling damp mode...") + self.loco_client.SetFsmId(FsmState.DAMP) + time.sleep(self._standup_step_delay / 3) + + logger.info("Executing Squat2StandUp...") + self.loco_client.SetFsmId(FsmState.SQUAT_STANDUP_TOGGLE) + time.sleep(self._standup_step_delay) + logger.info(f"Final state: {self.get_state()}") + return True + except Exception as e: + logger.error(f"Standup failed: {e}") + return False + + @rpc + def lie_down(self) -> bool: + assert self.loco_client is not None + try: + self.loco_client.StandUp2Squat() + time.sleep(self._standup_step_delay / 3) + self.loco_client.Damp() + return True + except Exception as e: + logger.error(f"Lie down failed: {e}") + return False + + def disconnect(self) -> None: + self.stop() + + # skills (LLM-callable) + + @skill + def move_velocity( + self, x: float, y: float = 0.0, yaw: float = 0.0, duration: float = 0.0 + ) -> str: + """Move the robot using direct velocity commands. Determine duration required based on user distance instructions. + + Example call: + args = { "x": 0.5, "y": 0.0, "yaw": 0.0, "duration": 2.0 } + move_velocity(**args) + + Args: + x: Forward velocity (m/s) + y: Left/right velocity (m/s) + yaw: Rotational velocity (rad/s) + duration: How long to move (seconds) + """ + twist = Twist(linear=Vector3(x, y, 0), angular=Vector3(0, 0, yaw)) + self.move(twist, duration=duration) + return f"Started moving with velocity=({x}, {y}, {yaw}) for {duration} seconds" + + @skill + def execute_arm_command(self, command_name: str) -> str: + """Execute a Unitree G1 arm command.""" + return self._execute_g1_command(_ARM_COMMANDS, 7106, "rt/api/arm/request", command_name) + + execute_arm_command.__doc__ = f"""Execute a Unitree G1 arm command. + + Example usage: + + execute_arm_command("ArmHeart") + + Here are all the command names and what they do. + + {_ARM_COMMANDS_DOC} + """ + + @skill + def execute_mode_command(self, command_name: str) -> str: + """Execute a Unitree G1 mode command.""" + return self._execute_g1_command(_MODE_COMMANDS, 7101, "rt/api/sport/request", command_name) + + execute_mode_command.__doc__ = f"""Execute a Unitree G1 mode command. + + Example usage: + + execute_mode_command("RunMode") + + Here are all the command names and what they do. + + {_MODE_COMMANDS_DOC} + """ + + # private helpers + + def _execute_g1_command( + self, + command_dict: dict[str, tuple[int, str]], + api_id: int, + topic: str, + command_name: str, + ) -> str: + if command_name not in command_dict: + suggestions = difflib.get_close_matches( + command_name, command_dict.keys(), n=3, cutoff=0.6 + ) + return f"There's no '{command_name}' command. Did you mean: {suggestions}" + + id_, _ = command_dict[command_name] + + try: + self.publish_request(topic, {"api_id": api_id, "parameter": {"data": id_}}) + return f"'{command_name}' command executed successfully." + except Exception as e: + logger.error(f"Failed to execute {command_name}: {e}") + return "Failed to execute the command." + + def _select_motion_mode(self) -> None: + if not self.motion_switcher or self._mode_selected: + return + + try: + code, result = self.motion_switcher.CheckMode() + if code == 0 and result: + current_mode = result.get("name", "none") + logger.info(f"Current motion mode: {current_mode}") + if current_mode and current_mode != "none": + logger.warning( + f"Robot is in '{current_mode}' mode. " + "If SDK commands don't work, you may need to activate " + "via controller: L1+A then L1+UP " + "(for chinese L2+B then L2+up then R2+A)" + ) + except Exception as e: + logger.debug(f"Could not check current mode: {e}") + + mode = self.config.connection_mode + logger.info(f"Selecting motion mode: {mode}") + code, _ = self.motion_switcher.SelectMode(mode) + if code == 0: + logger.info(f"Motion mode '{mode}' selected successfully") + self._mode_selected = True + time.sleep(self._standup_step_delay / 6) + else: + logger.error( + f"Failed to select mode '{mode}': code={code}\n" + " The robot may need to be activated via controller first:\n" + " 1. Press L1 + A on the controller\n" + " 2. Then press L1 + UP\n" + " This enables the AI Sport client required for SDK control." + ) + + def _get_fsm_id(self) -> int | None: + try: + code, data = self.loco_client._Call(_LOCO_API_IDS["GET_FSM_ID"], "{}") + if code == 0 and data: + result = json.loads(data) if isinstance(data, str) else data + fsm_id = result.get("data") if isinstance(result, dict) else result + logger.debug(f"Current FSM ID: {fsm_id}") + return fsm_id + else: + logger.warning(f"Failed to get FSM ID: code={code}, data={data}") + return None + except Exception as e: + logger.error(f"Error getting FSM ID: {e}") + return None + + +__all__ = ["FsmState", "G1HighLevelDdsSdk", "G1HighLevelDdsSdkConfig"] diff --git a/dimos/robot/unitree/g1/effectors/high_level/high_level_spec.py b/dimos/robot/unitree/g1/effectors/high_level/high_level_spec.py new file mode 100644 index 0000000000..cb4e53d81b --- /dev/null +++ b/dimos/robot/unitree/g1/effectors/high_level/high_level_spec.py @@ -0,0 +1,50 @@ +# Copyright 2025-2026 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. + +"""Spec for G1 high-level control interface. + +Any high-level control module (WebRTC, native SDK, etc.) must implement +this protocol so that skill containers and blueprints can work against +a single, stable API. +""" + +from typing import Any, Protocol + +from dimos.core.stream import In +from dimos.msgs.geometry_msgs.Twist import Twist +from dimos.spec.utils import Spec + + +class HighLevelG1Spec(Spec, Protocol): + """Common high-level control interface for the Unitree G1. + + Implementations provide velocity control, state queries, and + posture commands regardless of the underlying transport (WebRTC, + native SDK, etc.). + """ + + cmd_vel: In[Twist] + + def move(self, twist: Twist, duration: float = 0.0) -> bool: ... + + def get_state(self) -> str: ... + + def publish_request(self, topic: str, data: dict[str, Any]) -> dict[str, Any]: ... + + def stand_up(self) -> bool: ... + + def lie_down(self) -> bool: ... + + +__all__ = ["HighLevelG1Spec"] diff --git a/dimos/robot/unitree/g1/effectors/high_level/high_level_test.py b/dimos/robot/unitree/g1/effectors/high_level/high_level_test.py new file mode 100644 index 0000000000..dd866b71b2 --- /dev/null +++ b/dimos/robot/unitree/g1/effectors/high_level/high_level_test.py @@ -0,0 +1,603 @@ +# 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. + +"""Tests for G1 high-level control modules (DDS SDK and WebRTC).""" + +from __future__ import annotations + +from enum import IntEnum +import json +import sys +from typing import Any +from unittest.mock import MagicMock, call, patch + +import pytest + + +# Stub out unitree_sdk2py so we can import dds_sdk without the real SDK +def _install_sdk_stubs() -> dict[str, MagicMock]: + stubs: dict[str, MagicMock] = {} + for mod_name in [ + "unitree_sdk2py", + "unitree_sdk2py.comm", + "unitree_sdk2py.comm.motion_switcher", + "unitree_sdk2py.comm.motion_switcher.motion_switcher_client", + "unitree_sdk2py.core", + "unitree_sdk2py.core.channel", + "unitree_sdk2py.g1", + "unitree_sdk2py.g1.loco", + "unitree_sdk2py.g1.loco.g1_loco_api", + "unitree_sdk2py.g1.loco.g1_loco_client", + ]: + mock = MagicMock() + stubs[mod_name] = mock + sys.modules[mod_name] = mock + + # Wire up named attributes the module actually imports + api_mod = stubs["unitree_sdk2py.g1.loco.g1_loco_api"] + api_mod.ROBOT_API_ID_LOCO_GET_FSM_ID = 7001 + api_mod.ROBOT_API_ID_LOCO_GET_FSM_MODE = 7002 + api_mod.ROBOT_API_ID_LOCO_GET_BALANCE_MODE = 7003 + + client_mod = stubs["unitree_sdk2py.g1.loco.g1_loco_client"] + client_mod.LocoClient = MagicMock + + switcher_mod = stubs["unitree_sdk2py.comm.motion_switcher.motion_switcher_client"] + switcher_mod.MotionSwitcherClient = MagicMock + + channel_mod = stubs["unitree_sdk2py.core.channel"] + channel_mod.ChannelFactoryInitialize = MagicMock() + + return stubs + + +# Stub out unitree_webrtc_connect too +def _install_webrtc_stubs() -> dict[str, MagicMock]: + stubs: dict[str, MagicMock] = {} + for mod_name in [ + "unitree_webrtc_connect", + "unitree_webrtc_connect.constants", + "unitree_webrtc_connect.webrtc_driver", + ]: + mock = MagicMock() + stubs[mod_name] = mock + sys.modules[mod_name] = mock + + constants = stubs["unitree_webrtc_connect.constants"] + constants.RTC_TOPIC = "rt/topic" + constants.SPORT_CMD = "sport_cmd" + # VUI_COLOR is used both as a type and a value (VUI_COLOR.RED) in connection.py + constants.VUI_COLOR = MagicMock() + + driver = stubs["unitree_webrtc_connect.webrtc_driver"] + driver.UnitreeWebRTCConnection = MagicMock + driver.WebRTCConnectionMethod = MagicMock() + + return stubs + + +_sdk_stubs = _install_sdk_stubs() +_webrtc_stubs = _install_webrtc_stubs() + +from dimos.msgs.geometry_msgs.Twist import Twist +from dimos.msgs.geometry_msgs.Vector3 import Vector3 +from dimos.robot.unitree.g1.effectors.high_level.dds_sdk import ( + FsmState, + G1HighLevelDdsSdk, + G1HighLevelDdsSdkConfig, +) +from dimos.robot.unitree.g1.effectors.high_level.webrtc import ( + _ARM_COMMANDS, + _MODE_COMMANDS, + G1_ARM_CONTROLS, + G1_MODE_CONTROLS, + G1HighLevelWebRtc, + G1HighLevelWebRtcConfig, +) + +# FsmState enum tests + + +class TestFsmState: + def test_is_int_enum(self) -> None: + assert issubclass(FsmState, IntEnum) + + def test_values(self) -> None: + assert FsmState.ZERO_TORQUE == 0 # type: ignore[comparison-overlap] + assert FsmState.DAMP == 1 # type: ignore[comparison-overlap] + assert FsmState.SIT == 3 # type: ignore[comparison-overlap] + assert FsmState.AI_MODE == 200 # type: ignore[comparison-overlap] + assert FsmState.LIE_TO_STANDUP == 702 # type: ignore[comparison-overlap] + assert FsmState.SQUAT_STANDUP_TOGGLE == 706 # type: ignore[comparison-overlap] + + def test_name_lookup(self) -> None: + assert FsmState(0).name == "ZERO_TORQUE" + assert FsmState(1).name == "DAMP" + assert FsmState(200).name == "AI_MODE" + assert FsmState(706).name == "SQUAT_STANDUP_TOGGLE" + + def test_int_comparison(self) -> None: + assert FsmState.DAMP == 1 # type: ignore[comparison-overlap] + assert FsmState.AI_MODE != 0 # type: ignore[comparison-overlap] + + def test_unknown_value_raises(self) -> None: + with pytest.raises(ValueError): + FsmState(999) + + def test_iteration(self) -> None: + names = [s.name for s in FsmState] + assert "ZERO_TORQUE" in names + assert "AI_MODE" in names + assert len(names) == 6 + + +# Config tests + + +class TestDdsSdkConfig: + def test_defaults(self) -> None: + cfg = G1HighLevelDdsSdkConfig() + assert cfg.ip is None + assert cfg.network_interface == "eth0" + assert cfg.connection_mode == "ai" + assert cfg.ai_standup is True + assert cfg.motion_switcher_timeout == 5.0 + assert cfg.loco_client_timeout == 10.0 + assert cfg.cmd_vel_timeout == 0.2 + + def test_override(self) -> None: + cfg = G1HighLevelDdsSdkConfig( + ip="192.168.1.1", + ai_standup=False, + cmd_vel_timeout=0.5, + ) + assert cfg.ip == "192.168.1.1" + assert cfg.ai_standup is False + assert cfg.cmd_vel_timeout == 0.5 + + +class TestWebRtcConfig: + def test_defaults(self) -> None: + cfg = G1HighLevelWebRtcConfig() + assert cfg.ip is None + assert cfg.connection_mode == "ai" + + +# DDS SDK module tests (mocked) + + +def _make_dds_module(**config_overrides: Any) -> G1HighLevelDdsSdk: + """Create a G1HighLevelDdsSdk with mocked internals.""" + gc = MagicMock() + with patch.object(G1HighLevelDdsSdk, "__init__", lambda self, *a, **kw: None): + mod = G1HighLevelDdsSdk.__new__(G1HighLevelDdsSdk) + + mod.config = G1HighLevelDdsSdkConfig(**config_overrides) + mod._global_config = gc + mod._stop_timer = None + mod._running = False + mod._mode_selected = False + mod.motion_switcher = MagicMock() + mod.loco_client = MagicMock() + mod._standup_step_delay = 0.0 # no real sleeps in tests + return mod + + +class TestDdsSdkGetState: + def test_known_fsm(self) -> None: + mod = _make_dds_module() + mod.loco_client._Call.return_value = (0, json.dumps({"data": 0})) + assert mod.get_state() == "ZERO_TORQUE" + + def test_ai_mode_fsm(self) -> None: + mod = _make_dds_module() + mod.loco_client._Call.return_value = (0, json.dumps({"data": 200})) + assert mod.get_state() == "AI_MODE" + + def test_unknown_fsm(self) -> None: + mod = _make_dds_module() + mod.loco_client._Call.return_value = (0, json.dumps({"data": 999})) + assert mod.get_state() == "UNKNOWN_999" + + def test_query_failed(self) -> None: + mod = _make_dds_module() + mod.loco_client._Call.return_value = (1, None) + assert mod.get_state() == "Unknown (query failed)" + + def test_call_raises(self) -> None: + mod = _make_dds_module() + mod.loco_client._Call.side_effect = RuntimeError("timeout") + assert mod.get_state() == "Unknown (query failed)" + + +class TestDdsSdkStandUp: + def test_ai_standup_from_zero_torque(self) -> None: + mod = _make_dds_module(ai_standup=True) + mod.loco_client._Call.return_value = (0, json.dumps({"data": FsmState.ZERO_TORQUE})) + result = mod.stand_up() + assert result is True + calls = mod.loco_client.SetFsmId.call_args_list + assert calls[0] == call(FsmState.DAMP) + assert calls[1] == call(FsmState.AI_MODE) + assert calls[2] == call(FsmState.SQUAT_STANDUP_TOGGLE) + + def test_ai_standup_already_ai_mode(self) -> None: + mod = _make_dds_module(ai_standup=True) + mod.loco_client._Call.return_value = (0, json.dumps({"data": FsmState.AI_MODE})) + result = mod.stand_up() + assert result is True + calls = mod.loco_client.SetFsmId.call_args_list + # Should skip DAMP and AI_MODE, go straight to toggle + assert len(calls) == 1 + assert calls[0] == call(FsmState.SQUAT_STANDUP_TOGGLE) + + def test_normal_standup(self) -> None: + mod = _make_dds_module(ai_standup=False) + result = mod.stand_up() + assert result is True + calls = mod.loco_client.SetFsmId.call_args_list + assert calls[0] == call(FsmState.DAMP) + assert calls[1] == call(FsmState.SQUAT_STANDUP_TOGGLE) + + def test_standup_exception(self) -> None: + mod = _make_dds_module(ai_standup=False) + mod.loco_client.SetFsmId.side_effect = RuntimeError("comms lost") + result = mod.stand_up() + assert result is False + + +class TestDdsSdkLieDown: + def test_lie_down(self) -> None: + mod = _make_dds_module() + result = mod.lie_down() + assert result is True + mod.loco_client.StandUp2Squat.assert_called_once() + mod.loco_client.Damp.assert_called_once() + + def test_lie_down_exception(self) -> None: + mod = _make_dds_module() + mod.loco_client.StandUp2Squat.side_effect = RuntimeError("err") + result = mod.lie_down() + assert result is False + + +class TestDdsSdkMove: + def test_move_with_duration(self) -> None: + mod = _make_dds_module() + mod.loco_client.SetVelocity.return_value = 0 + twist = Twist(linear=Vector3(1.0, 0.5, 0), angular=Vector3(0, 0, 0.3)) + result = mod.move(twist, duration=2.0) + assert result is True + mod.loco_client.SetVelocity.assert_called_once_with(1.0, 0.5, 0.3, 2.0) + + def test_move_with_duration_error_code(self) -> None: + mod = _make_dds_module() + mod.loco_client.SetVelocity.return_value = -1 + twist = Twist(linear=Vector3(1.0, 0, 0), angular=Vector3(0, 0, 0)) + result = mod.move(twist, duration=1.0) + assert result is False + + def test_move_continuous(self) -> None: + mod = _make_dds_module() + twist = Twist(linear=Vector3(0.5, 0, 0), angular=Vector3(0, 0, 0.1)) + result = mod.move(twist) + assert result is True + mod.loco_client.Move.assert_called_once_with(0.5, 0, 0.1, continous_move=True) + # Timer should have been started + assert mod._stop_timer is not None + mod._stop_timer.cancel() + mod._stop_timer.join() # wait for thread to finish + + def test_move_exception(self) -> None: + mod = _make_dds_module() + mod.loco_client.SetVelocity.side_effect = RuntimeError("err") + twist = Twist(linear=Vector3(1.0, 0, 0), angular=Vector3(0, 0, 0)) + result = mod.move(twist, duration=1.0) + assert result is False + + +class TestDdsSdkPublishRequest: + def test_set_fsm_id(self) -> None: + mod = _make_dds_module() + mod.loco_client.SetFsmId.return_value = 0 + result = mod.publish_request("topic", {"api_id": 7101, "parameter": {"data": 200}}) + assert result == {"code": 0} + mod.loco_client.SetFsmId.assert_called_once_with(200) + + def test_set_velocity(self) -> None: + mod = _make_dds_module() + mod.loco_client.SetVelocity.return_value = 0 + result = mod.publish_request( + "topic", + {"api_id": 7105, "parameter": {"velocity": [1.0, 0.5, 0.2], "duration": 3.0}}, + ) + assert result == {"code": 0} + mod.loco_client.SetVelocity.assert_called_once_with(1.0, 0.5, 0.2, 3.0) + + def test_unsupported_api(self) -> None: + mod = _make_dds_module() + result = mod.publish_request("topic", {"api_id": 9999}) + assert result["code"] == -1 + assert result["error"] == "unsupported_api" + + def test_exception(self) -> None: + mod = _make_dds_module() + mod.loco_client.SetFsmId.side_effect = RuntimeError("boom") + result = mod.publish_request("topic", {"api_id": 7101, "parameter": {"data": 1}}) + assert result["code"] == -1 + assert "boom" in result["error"] + + +# WebRTC module tests (mocked) + + +def _make_webrtc_module(**config_overrides: Any) -> G1HighLevelWebRtc: + with patch.object(G1HighLevelWebRtc, "__init__", lambda self, *a, **kw: None): + mod = G1HighLevelWebRtc.__new__(G1HighLevelWebRtc) + + mod.config = G1HighLevelWebRtcConfig(**config_overrides) + mod._global_config = MagicMock() + mod.connection = MagicMock() + return mod + + +class TestWebRtcConstants: + def test_arm_controls_structure(self) -> None: + for name, id_, desc in G1_ARM_CONTROLS: + assert isinstance(name, str) + assert isinstance(id_, int) + assert isinstance(desc, str) + + def test_mode_controls_structure(self) -> None: + for name, id_, desc in G1_MODE_CONTROLS: + assert isinstance(name, str) + assert isinstance(id_, int) + assert isinstance(desc, str) + + def test_arm_commands_dict(self) -> None: + assert "Handshake" in _ARM_COMMANDS + assert "CancelAction" in _ARM_COMMANDS + assert len(_ARM_COMMANDS) == len(G1_ARM_CONTROLS) + + def test_mode_commands_dict(self) -> None: + assert "WalkMode" in _MODE_COMMANDS + assert "RunMode" in _MODE_COMMANDS + assert len(_MODE_COMMANDS) == len(G1_MODE_CONTROLS) + + +class TestWebRtcGetState: + def test_connected(self) -> None: + mod = _make_webrtc_module() + assert mod.get_state() == "Connected (WebRTC)" + + def test_not_connected(self) -> None: + mod = _make_webrtc_module() + mod.connection = None + assert mod.get_state() == "Not connected" + + +class TestWebRtcMove: + def test_move_delegates(self) -> None: + mod = _make_webrtc_module() + mod.connection.move.return_value = True # type: ignore[union-attr] + twist = Twist(linear=Vector3(1.0, 0, 0), angular=Vector3(0, 0, 0)) + assert mod.move(twist, duration=2.0) is True + mod.connection.move.assert_called_once_with(twist, 2.0) # type: ignore[union-attr] + + +class TestWebRtcStandUp: + def test_stand_up_delegates(self) -> None: + mod = _make_webrtc_module() + mod.connection.standup.return_value = True # type: ignore[union-attr] + assert mod.stand_up() is True + mod.connection.standup.assert_called_once() # type: ignore[union-attr] + + +class TestWebRtcLieDown: + def test_lie_down_delegates(self) -> None: + mod = _make_webrtc_module() + mod.connection.liedown.return_value = True # type: ignore[union-attr] + assert mod.lie_down() is True + mod.connection.liedown.assert_called_once() # type: ignore[union-attr] + + +class TestWebRtcPublishRequest: + def test_delegates(self) -> None: + mod = _make_webrtc_module() + mod.connection.publish_request.return_value = {"code": 0} # type: ignore[union-attr] + result = mod.publish_request("topic", {"api_id": 7101}) + assert result == {"code": 0} + + +class TestWebRtcArmCommand: + def test_valid_command(self) -> None: + mod = _make_webrtc_module() + mod.connection.publish_request.return_value = {"code": 0} # type: ignore[union-attr] + result = mod.execute_arm_command("Handshake") + assert "successfully" in result + + def test_invalid_command(self) -> None: + mod = _make_webrtc_module() + result = mod.execute_arm_command("NotARealCommand") + assert "no" in result.lower() or "There's" in result + + +class TestWebRtcModeCommand: + def test_valid_command(self) -> None: + mod = _make_webrtc_module() + mod.connection.publish_request.return_value = {"code": 0} # type: ignore[union-attr] + result = mod.execute_mode_command("WalkMode") + assert "successfully" in result + + def test_invalid_command(self) -> None: + mod = _make_webrtc_module() + result = mod.execute_mode_command("FlyMode") + assert "no" in result.lower() or "There's" in result + + +# FSM State Machine model + transition tests + + +class FsmSimulator: + """Models the valid FSM transitions of the Unitree G1. + + Used to verify that stand_up / lie_down issue commands in a + valid order. + """ + + VALID_TRANSITIONS: dict[FsmState, set[FsmState]] = { + FsmState.ZERO_TORQUE: {FsmState.DAMP}, + FsmState.DAMP: {FsmState.AI_MODE, FsmState.SQUAT_STANDUP_TOGGLE, FsmState.ZERO_TORQUE}, + FsmState.SIT: {FsmState.DAMP, FsmState.SQUAT_STANDUP_TOGGLE}, + FsmState.AI_MODE: {FsmState.SQUAT_STANDUP_TOGGLE, FsmState.DAMP, FsmState.ZERO_TORQUE}, + FsmState.LIE_TO_STANDUP: {FsmState.DAMP, FsmState.SIT}, + FsmState.SQUAT_STANDUP_TOGGLE: { + FsmState.DAMP, + FsmState.AI_MODE, + FsmState.SIT, + FsmState.SQUAT_STANDUP_TOGGLE, + }, + } + + def __init__(self, initial: FsmState = FsmState.ZERO_TORQUE) -> None: + self.state = initial + self.history: list[FsmState] = [initial] + + def transition(self, target: FsmState) -> None: + # Self-transitions are no-ops on the real robot + if target == self.state: + self.history.append(target) + return + valid = self.VALID_TRANSITIONS.get(self.state, set()) + if target not in valid: + raise ValueError( + f"Invalid transition: {self.state.name} -> {target.name}. " + f"Valid targets: {[s.name for s in valid]}" + ) + self.state = target + self.history.append(target) + + +def _make_dds_with_fsm_sim( + initial_state: FsmState, *, ai_standup: bool = True +) -> tuple[G1HighLevelDdsSdk, FsmSimulator]: + """Build a DDS module whose loco_client tracks an FsmSimulator.""" + sim = FsmSimulator(initial_state) + mod = _make_dds_module(ai_standup=ai_standup) + + def mock_set_fsm_id(fsm_id: int) -> int: + sim.transition(FsmState(fsm_id)) + return 0 + + def mock_call(api_id: int, payload: str) -> tuple[int, str]: + return (0, json.dumps({"data": int(sim.state)})) + + mod.loco_client.SetFsmId.side_effect = mock_set_fsm_id + mod.loco_client._Call.side_effect = mock_call + + # StandUp2Squat is the high-level SDK wrapper around SQUAT_STANDUP_TOGGLE + def mock_standup2squat() -> None: + sim.transition(FsmState.SQUAT_STANDUP_TOGGLE) + + def mock_damp() -> None: + sim.transition(FsmState.DAMP) + + mod.loco_client.StandUp2Squat.side_effect = mock_standup2squat + mod.loco_client.Damp.side_effect = mock_damp + + return mod, sim + + +class TestFsmSimulator: + def test_valid_transition(self) -> None: + sim = FsmSimulator(FsmState.ZERO_TORQUE) + sim.transition(FsmState.DAMP) + assert sim.state == FsmState.DAMP + + def test_invalid_transition_raises(self) -> None: + sim = FsmSimulator(FsmState.ZERO_TORQUE) + with pytest.raises(ValueError, match="Invalid transition"): + sim.transition(FsmState.AI_MODE) + + def test_history_tracking(self) -> None: + sim = FsmSimulator(FsmState.ZERO_TORQUE) + sim.transition(FsmState.DAMP) + sim.transition(FsmState.AI_MODE) + assert sim.history == [FsmState.ZERO_TORQUE, FsmState.DAMP, FsmState.AI_MODE] + + +class TestStandUpTransitions: + def test_ai_standup_from_zero_torque_valid_transitions(self) -> None: + mod, sim = _make_dds_with_fsm_sim(FsmState.ZERO_TORQUE, ai_standup=True) + assert mod.stand_up() is True + assert sim.history == [ + FsmState.ZERO_TORQUE, + FsmState.DAMP, + FsmState.AI_MODE, + FsmState.SQUAT_STANDUP_TOGGLE, + ] + + def test_ai_standup_from_damp_valid_transitions(self) -> None: + mod, sim = _make_dds_with_fsm_sim(FsmState.DAMP, ai_standup=True) + assert mod.stand_up() is True + assert sim.history == [ + FsmState.DAMP, + FsmState.AI_MODE, + FsmState.SQUAT_STANDUP_TOGGLE, + ] + + def test_ai_standup_already_in_ai_mode(self) -> None: + mod, sim = _make_dds_with_fsm_sim(FsmState.AI_MODE, ai_standup=True) + assert mod.stand_up() is True + assert sim.history == [FsmState.AI_MODE, FsmState.SQUAT_STANDUP_TOGGLE] + + def test_normal_standup_from_zero_torque_invalid(self) -> None: + """Normal standup tries DAMP first, which is valid from ZERO_TORQUE.""" + mod, sim = _make_dds_with_fsm_sim(FsmState.ZERO_TORQUE, ai_standup=False) + assert mod.stand_up() is True + assert sim.history == [ + FsmState.ZERO_TORQUE, + FsmState.DAMP, + FsmState.SQUAT_STANDUP_TOGGLE, + ] + + def test_normal_standup_from_damp(self) -> None: + mod, sim = _make_dds_with_fsm_sim(FsmState.DAMP, ai_standup=False) + assert mod.stand_up() is True + assert sim.history == [ + FsmState.DAMP, + # DAMP -> DAMP is not in valid transitions, but SetFsmId + # is called unconditionally; the real robot handles this as a no-op. + # Our sim models it as valid since the robot stays in DAMP. + FsmState.DAMP, + FsmState.SQUAT_STANDUP_TOGGLE, + ] + + +class TestLieDownTransitions: + def test_lie_down_from_standing(self) -> None: + """Assumes the robot is in SQUAT_STANDUP_TOGGLE (standing) state.""" + mod, sim = _make_dds_with_fsm_sim(FsmState.SQUAT_STANDUP_TOGGLE) + assert mod.lie_down() is True + # StandUp2Squat toggles -> SQUAT_STANDUP_TOGGLE, then Damp -> DAMP + assert sim.history == [ + FsmState.SQUAT_STANDUP_TOGGLE, + FsmState.SQUAT_STANDUP_TOGGLE, + FsmState.DAMP, + ] + + def test_lie_down_from_ai_mode(self) -> None: + mod, sim = _make_dds_with_fsm_sim(FsmState.AI_MODE) + assert mod.lie_down() is True + assert FsmState.DAMP in sim.history diff --git a/dimos/robot/unitree/g1/effectors/high_level/webrtc.py b/dimos/robot/unitree/g1/effectors/high_level/webrtc.py new file mode 100644 index 0000000000..feb67d95f9 --- /dev/null +++ b/dimos/robot/unitree/g1/effectors/high_level/webrtc.py @@ -0,0 +1,218 @@ +# Copyright 2025-2026 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. + +"""G1 high-level control via WebRTC connection.""" + +import difflib +from typing import Any + +from reactivex.disposable import Disposable + +from dimos.agents.annotation import skill +from dimos.core.core import rpc +from dimos.core.global_config import GlobalConfig, global_config +from dimos.core.module import Module, ModuleConfig +from dimos.core.stream import In +from dimos.msgs.geometry_msgs.Twist import Twist +from dimos.msgs.geometry_msgs.Vector3 import Vector3 +from dimos.robot.unitree.connection import UnitreeWebRTCConnection +from dimos.robot.unitree.g1.effectors.high_level.high_level_spec import HighLevelG1Spec +from dimos.utils.logging_config import setup_logger + +logger = setup_logger() + +# G1 Arm Actions - all use api_id 7106 on topic "rt/api/arm/request" +G1_ARM_CONTROLS = [ + ("Handshake", 27, "Perform a handshake gesture with the right hand."), + ("HighFive", 18, "Give a high five with the right hand."), + ("Hug", 19, "Perform a hugging gesture with both arms."), + ("HighWave", 26, "Wave with the hand raised high."), + ("Clap", 17, "Clap hands together."), + ("FaceWave", 25, "Wave near the face level."), + ("LeftKiss", 12, "Blow a kiss with the left hand."), + ("ArmHeart", 20, "Make a heart shape with both arms overhead."), + ("RightHeart", 21, "Make a heart gesture with the right hand."), + ("HandsUp", 15, "Raise both hands up in the air."), + ("XRay", 24, "Hold arms in an X-ray pose position."), + ("RightHandUp", 23, "Raise only the right hand up."), + ("Reject", 22, "Make a rejection or 'no' gesture."), + ("CancelAction", 99, "Cancel any current arm action and return hands to neutral position."), +] + +# G1 Movement Modes - all use api_id 7101 on topic "rt/api/sport/request" +G1_MODE_CONTROLS = [ + ("WalkMode", 500, "Switch to normal walking mode."), + ("WalkControlWaist", 501, "Switch to walking mode with waist control."), + ("RunMode", 801, "Switch to running mode."), +] + +_ARM_COMMANDS: dict[str, tuple[int, str]] = { + name: (id_, description) for name, id_, description in G1_ARM_CONTROLS +} + +_MODE_COMMANDS: dict[str, tuple[int, str]] = { + name: (id_, description) for name, id_, description in G1_MODE_CONTROLS +} + +_ARM_COMMANDS_DOC = "\n".join(f'- "{name}": {desc}' for name, (_, desc) in _ARM_COMMANDS.items()) +_MODE_COMMANDS_DOC = "\n".join(f'- "{name}": {desc}' for name, (_, desc) in _MODE_COMMANDS.items()) + + +class G1HighLevelWebRtcConfig(ModuleConfig): + ip: str | None = None + connection_mode: str = "ai" + + +class G1HighLevelWebRtc(Module, HighLevelG1Spec): + """G1 high-level control module using WebRTC transport. + + Wraps :class:`UnitreeWebRTCConnection` and exposes the + :class:`HighLevelG1Spec` interface plus LLM-callable skills for + arm gestures, movement modes, and velocity control. + """ + + cmd_vel: In[Twist] + config: G1HighLevelWebRtcConfig + + connection: UnitreeWebRTCConnection | None + + def __init__(self, *args: Any, g: GlobalConfig = global_config, **kwargs: Any) -> None: + super().__init__(*args, g=g, **kwargs) + self._global_config = g + + # lifecycle + + @rpc + def start(self) -> None: + super().start() + assert self.config.ip is not None, "ip must be set in G1HighLevelWebRtcConfig" + self.connection = UnitreeWebRTCConnection(self.config.ip, self.config.connection_mode) + self.connection.start() + self.register_disposable(Disposable(self.cmd_vel.subscribe(self.move))) + + @rpc + def stop(self) -> None: + if self.connection is not None: + self.connection.stop() + super().stop() + + # HighLevelG1Spec + + @rpc + def move(self, twist: Twist, duration: float = 0.0) -> bool: + assert self.connection is not None + return self.connection.move(twist, duration) + + @rpc + def get_state(self) -> str: + if self.connection is None: + return "Not connected" + return "Connected (WebRTC)" + + @rpc + def publish_request(self, topic: str, data: dict[str, Any]) -> dict[str, Any]: + logger.info(f"Publishing request to topic: {topic} with data: {data}") + assert self.connection is not None + return self.connection.publish_request(topic, data) # type: ignore[no-any-return] + + @rpc + def stand_up(self) -> bool: + assert self.connection is not None + return self.connection.standup() + + @rpc + def lie_down(self) -> bool: + assert self.connection is not None + return self.connection.liedown() + + # skills (LLM-callable) + + @skill + def move_velocity( + self, x: float, y: float = 0.0, yaw: float = 0.0, duration: float = 0.0 + ) -> str: + """Move the robot using direct velocity commands. Determine duration required based on user distance instructions. + + Example call: + args = { "x": 0.5, "y": 0.0, "yaw": 0.0, "duration": 2.0 } + move_velocity(**args) + + Args: + x: Forward velocity (m/s) + y: Left/right velocity (m/s) + yaw: Rotational velocity (rad/s) + duration: How long to move (seconds) + """ + twist = Twist(linear=Vector3(x, y, 0), angular=Vector3(0, 0, yaw)) + self.move(twist, duration=duration) + return f"Started moving with velocity=({x}, {y}, {yaw}) for {duration} seconds" + + @skill + def execute_arm_command(self, command_name: str) -> str: + """Execute a Unitree G1 arm command.""" + return self._execute_g1_command(_ARM_COMMANDS, 7106, "rt/api/arm/request", command_name) + + execute_arm_command.__doc__ = f"""Execute a Unitree G1 arm command. + + Example usage: + + execute_arm_command("ArmHeart") + + Here are all the command names and what they do. + + {_ARM_COMMANDS_DOC} + """ + + @skill + def execute_mode_command(self, command_name: str) -> str: + """Execute a Unitree G1 mode command.""" + return self._execute_g1_command(_MODE_COMMANDS, 7101, "rt/api/sport/request", command_name) + + execute_mode_command.__doc__ = f"""Execute a Unitree G1 mode command. + + Example usage: + + execute_mode_command("RunMode") + + Here are all the command names and what they do. + + {_MODE_COMMANDS_DOC} + """ + + # private helpers + + def _execute_g1_command( + self, + command_dict: dict[str, tuple[int, str]], + api_id: int, + topic: str, + command_name: str, + ) -> str: + if command_name not in command_dict: + suggestions = difflib.get_close_matches( + command_name, command_dict.keys(), n=3, cutoff=0.6 + ) + return f"There's no '{command_name}' command. Did you mean: {suggestions}" + + id_, _ = command_dict[command_name] + + try: + self.publish_request(topic, {"api_id": api_id, "parameter": {"data": id_}}) + return f"'{command_name}' command executed successfully." + except Exception as e: + logger.error(f"Failed to execute {command_name}: {e}") + return "Failed to execute the command." + + +__all__ = ["G1HighLevelWebRtc", "G1HighLevelWebRtcConfig"] diff --git a/dimos/robot/unitree/g1/g1.urdf b/dimos/robot/unitree/g1/g1.urdf new file mode 100644 index 0000000000..948969df26 --- /dev/null +++ b/dimos/robot/unitree/g1/g1.urdf @@ -0,0 +1,995 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/dimos/robot/unitree/g1/g1_rerun.py b/dimos/robot/unitree/g1/g1_rerun.py new file mode 100644 index 0000000000..a80d816acf --- /dev/null +++ b/dimos/robot/unitree/g1/g1_rerun.py @@ -0,0 +1,63 @@ +# 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. + +"""G1-specific Rerun visual helpers (robot dimensions, TF overrides).""" + +from __future__ import annotations + +from typing import Any + + +def g1_static_robot(rr: Any) -> list[Any]: + """Static G1 humanoid wireframe box attached to the sensor TF frame. + + Half-sizes are ~50x40x120 cm (the G1 humanoid), and the box is + centered 0.6m below the sensor (lidar mounted at head height). + """ + return [ + rr.Boxes3D( + half_sizes=[0.25, 0.20, 0.6], + centers=[[0, 0, -0.6]], + colors=[(0, 255, 127)], + fill_mode="MajorWireframe", + ), + rr.Transform3D(parent_frame="tf#/sensor"), + ] + + +def g1_odometry_tf_override(odom: Any) -> Any: + """Publish odometry as a TF frame so sensor_scan/path/robot can reference it. + + The z is zeroed because point clouds already have the full init_pose + transform applied (ground at z≈0). Using the raw odom.z (= mount height) + would double-count the vertical offset. + """ + import rerun as rr + + tf = rr.Transform3D( + translation=[odom.x, odom.y, 0.0], + rotation=rr.Quaternion( + xyzw=[ + odom.orientation.x, + odom.orientation.y, + odom.orientation.z, + odom.orientation.w, + ] + ), + parent_frame="tf#/map", + child_frame="tf#/sensor", + ) + return [ + ("tf#/sensor", tf), + ] diff --git a/dimos/robot/unitree/g1/sim.py b/dimos/robot/unitree/g1/mujoco_sim.py similarity index 99% rename from dimos/robot/unitree/g1/sim.py rename to dimos/robot/unitree/g1/mujoco_sim.py index 0611c68a37..f1c9e92310 100644 --- a/dimos/robot/unitree/g1/sim.py +++ b/dimos/robot/unitree/g1/mujoco_sim.py @@ -147,3 +147,6 @@ def publish_request(self, topic: str, data: dict[str, Any]) -> dict[Any, Any]: logger.info(f"Publishing request to topic: {topic} with data: {data}") assert self.connection is not None return self.connection.publish_request(topic, data) + + +__all__ = ["G1SimConnection"] diff --git a/dimos/robot/unitree/g1/tests/test_arrow_control.py b/dimos/robot/unitree/g1/tests/test_arrow_control.py new file mode 100755 index 0000000000..9007e6887d --- /dev/null +++ b/dimos/robot/unitree/g1/tests/test_arrow_control.py @@ -0,0 +1,190 @@ +#!/usr/bin/env python3 +# 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. + +""" +Arrow key control for G1 robot. +Use arrow keys and WASD for real-time robot control. +""" + +import curses +import time +from typing import Any + +from dimos.msgs.geometry_msgs import Twist, Vector3 +from dimos.robot.unitree.g1.effectors.high_level.dds_sdk import G1HighLevelDdsSdk + + +def draw_ui(stdscr: Any, state_text: str = "Not connected") -> None: + """Draw the control UI.""" + stdscr.clear() + height, width = stdscr.getmaxyx() + + # Title + title = "🤖 G1 Arrow Key Control" + stdscr.addstr(0, (width - len(title)) // 2, title, curses.A_BOLD) + + # Controls + controls = [ + "", + "Movement Controls:", + " ↑/W - Move forward", + " ↓/S - Move backward", + " ←/A - Rotate left", + " →/D - Rotate right", + " Q - Strafe left", + " E - Strafe right", + " SPACE - Stop", + "", + "Robot Controls:", + " 1 - Stand up", + " 2 - Lie down", + " R - Show robot state", + "", + " ESC/Ctrl+C - Quit", + "", + f"Status: {state_text}", + ] + + start_row = 2 + for i, line in enumerate(controls): + if i < height - 1: + stdscr.addstr(start_row + i, 2, line) + + stdscr.refresh() + + +def main(stdscr: Any) -> None: + # Setup curses + curses.curs_set(0) # Hide cursor + stdscr.nodelay(1) # Non-blocking input + stdscr.timeout(100) # 100ms timeout for getch() + + draw_ui(stdscr, "Initializing...") + + # Initialize connection + conn = G1HighLevelDdsSdk(network_interface="eth0") + conn.start() + time.sleep(1) + + draw_ui(stdscr, "✓ Connected - Ready for commands") + + # Movement parameters + linear_speed = 0.3 # m/s for forward/backward/strafe + angular_speed = 0.5 # rad/s for rotation + move_duration = 0.2 # Duration of each movement pulse + + try: + last_cmd_time = 0.0 + cmd_cooldown = 0.15 # Minimum time between commands + + while True: + key = stdscr.getch() + current_time = time.time() + + # Skip if in cooldown period + if current_time - last_cmd_time < cmd_cooldown: + continue + + if key == -1: # No key pressed + continue + + # Handle quit + if key == 27 or key == 3: # ESC or Ctrl+C + break + + # Convert key to character + try: + key_char = chr(key).lower() if key < 256 else None + except ValueError: + key_char = None + + # Movement commands + twist = None + action = None + + # Arrow keys + if key == curses.KEY_UP or key_char == "w": + twist = Twist(linear=Vector3(linear_speed, 0, 0), angular=Vector3(0, 0, 0)) + action = "Moving forward..." + elif key == curses.KEY_DOWN or key_char == "s": + twist = Twist(linear=Vector3(-linear_speed, 0, 0), angular=Vector3(0, 0, 0)) + action = "Moving backward..." + elif key == curses.KEY_LEFT or key_char == "a": + twist = Twist(linear=Vector3(0, 0, 0), angular=Vector3(0, 0, angular_speed)) + action = "Rotating left..." + elif key == curses.KEY_RIGHT or key_char == "d": + twist = Twist(linear=Vector3(0, 0, 0), angular=Vector3(0, 0, -angular_speed)) + action = "Rotating right..." + elif key_char == "q": + twist = Twist(linear=Vector3(0, linear_speed, 0), angular=Vector3(0, 0, 0)) + action = "Strafing left..." + elif key_char == "e": + twist = Twist(linear=Vector3(0, -linear_speed, 0), angular=Vector3(0, 0, 0)) + action = "Strafing right..." + elif key_char == " ": + conn.move( + Twist(linear=Vector3(0, 0, 0), angular=Vector3(0, 0, 0)), duration=move_duration + ) + action = "🛑 Stopped" + last_cmd_time = current_time + + # Robot state commands + elif key_char == "1": + draw_ui(stdscr, "Standing up...") + conn.stand_up() + action = "✓ Standup complete" + last_cmd_time = current_time + elif key_char == "2": + draw_ui(stdscr, "Lying down...") + conn.lie_down() + action = "✓ Liedown complete" + last_cmd_time = current_time + elif key_char == "r": + state = conn.get_state() + action = f"State: {state}" + last_cmd_time = current_time + + # Execute movement + if twist is not None: + conn.move(twist, duration=move_duration) + last_cmd_time = current_time + + # Update UI with action + if action: + draw_ui(stdscr, action) + + except KeyboardInterrupt: + pass + finally: + draw_ui(stdscr, "Stopping and disconnecting...") + conn.disconnect() + draw_ui(stdscr, "✓ Disconnected") + time.sleep(1) + + +if __name__ == "__main__": + print("\n⚠️ WARNING: Ensure area is clear around robot!") + print("Starting in 3 seconds...") + time.sleep(3) + + try: + curses.wrapper(main) + except Exception as e: + print(f"\n✗ Error: {e}") + import traceback + + traceback.print_exc() + + print("\n✓ Done") diff --git a/dimos/robot/unitree/g1/tests/test_arrow_control_cmd_vel.py b/dimos/robot/unitree/g1/tests/test_arrow_control_cmd_vel.py new file mode 100644 index 0000000000..d53ec6fffd --- /dev/null +++ b/dimos/robot/unitree/g1/tests/test_arrow_control_cmd_vel.py @@ -0,0 +1,187 @@ +#!/usr/bin/env python3 +# 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. + +""" +Arrow key control for G1 robot via cmd_vel LCM topic. +Use arrow keys and WASD for real-time robot control. +Publishes Twist messages on /cmd_vel instead of calling .move() directly. +""" + +import curses +import time +from typing import Any + +import lcm + +from dimos.core.transport import LCMTransport +from dimos.msgs.geometry_msgs import Twist, Vector3 +from dimos.robot.unitree.g1.effectors.high_level.dds_sdk import G1HighLevelDdsSdk + +CMD_VEL_CHANNEL = "/cmd_vel#geometry_msgs.Twist" + + +def publish_twist(lc: lcm.LCM, twist: Twist) -> None: + lc.publish(CMD_VEL_CHANNEL, twist.lcm_encode()) + + +def draw_ui(stdscr: Any, state_text: str = "Not connected") -> None: + """Draw the control UI.""" + stdscr.clear() + height, width = stdscr.getmaxyx() + + title = "G1 Arrow Key Control (cmd_vel)" + stdscr.addstr(0, (width - len(title)) // 2, title, curses.A_BOLD) + + controls = [ + "", + "Movement Controls:", + " UP/W - Move forward", + " DOWN/S - Move backward", + " LEFT/A - Rotate left", + " RIGHT/D - Rotate right", + " Q - Strafe left", + " E - Strafe right", + " SPACE - Stop", + "", + "Robot Controls:", + " 1 - Stand up", + " 2 - Lie down", + "", + " ESC/Ctrl+C - Quit", + "", + f"Status: {state_text}", + ] + + start_row = 2 + for i, line in enumerate(controls): + if i < height - 1: + stdscr.addstr(start_row + i, 2, line) + + stdscr.refresh() + + +def main(stdscr: Any) -> None: + curses.curs_set(0) + stdscr.nodelay(1) + stdscr.timeout(100) + + draw_ui(stdscr, "Initializing...") + + # Set up G1HighLevelDdsSdk with cmd_vel LCM transport so it subscribes + conn = G1HighLevelDdsSdk(network_interface="eth0") + conn.cmd_vel.transport = LCMTransport("/cmd_vel", Twist) + conn.start() + time.sleep(1) + + # Raw LCM publisher — messages go to the transport above + lc = lcm.LCM() + + draw_ui(stdscr, "Connected - publishing on " + CMD_VEL_CHANNEL) + + linear_speed = 0.3 # m/s + angular_speed = 0.5 # rad/s + cmd_cooldown = 0.15 + + try: + last_cmd_time = 0.0 + + while True: + key = stdscr.getch() + current_time = time.time() + + if current_time - last_cmd_time < cmd_cooldown: + continue + + if key == -1: + continue + + if key == 27 or key == 3: # ESC or Ctrl+C + break + + try: + key_char = chr(key).lower() if key < 256 else None + except ValueError: + key_char = None + + twist = None + action = None + + if key == curses.KEY_UP or key_char == "w": + twist = Twist(linear=Vector3(linear_speed, 0, 0), angular=Vector3(0, 0, 0)) + action = "Moving forward..." + elif key == curses.KEY_DOWN or key_char == "s": + twist = Twist(linear=Vector3(-linear_speed, 0, 0), angular=Vector3(0, 0, 0)) + action = "Moving backward..." + elif key == curses.KEY_LEFT or key_char == "a": + twist = Twist(linear=Vector3(0, 0, 0), angular=Vector3(0, 0, angular_speed)) + action = "Rotating left..." + elif key == curses.KEY_RIGHT or key_char == "d": + twist = Twist(linear=Vector3(0, 0, 0), angular=Vector3(0, 0, -angular_speed)) + action = "Rotating right..." + elif key_char == "q": + twist = Twist(linear=Vector3(0, linear_speed, 0), angular=Vector3(0, 0, 0)) + action = "Strafing left..." + elif key_char == "e": + twist = Twist(linear=Vector3(0, -linear_speed, 0), angular=Vector3(0, 0, 0)) + action = "Strafing right..." + elif key_char == " ": + stop = Twist(linear=Vector3(0, 0, 0), angular=Vector3(0, 0, 0)) + publish_twist(lc, stop) + action = "Stopped" + last_cmd_time = current_time + elif key_char == "1": + draw_ui(stdscr, "Standing up...") + conn.stand_up() + action = "Standup complete" + last_cmd_time = current_time + elif key_char == "2": + draw_ui(stdscr, "Lying down...") + conn.lie_down() + action = "Liedown complete" + last_cmd_time = current_time + + if twist is not None: + publish_twist(lc, twist) + last_cmd_time = current_time + + if action: + draw_ui(stdscr, action) + + except KeyboardInterrupt: + pass + finally: + draw_ui(stdscr, "Stopping...") + stop = Twist(linear=Vector3(0, 0, 0), angular=Vector3(0, 0, 0)) + publish_twist(lc, stop) + time.sleep(0.5) + conn.disconnect() + draw_ui(stdscr, "Done") + time.sleep(1) + + +if __name__ == "__main__": + print("\nWARNING: Ensure area is clear around robot!") + print("Starting in 3 seconds...") + time.sleep(3) + + try: + curses.wrapper(main) + except Exception as e: + print(f"\nError: {e}") + import traceback + + traceback.print_exc() + + print("\nDone") diff --git a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_security.py b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_security.py index e165d17173..e0d2ce030f 100644 --- a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_security.py +++ b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_security.py @@ -18,7 +18,7 @@ from dimos.core.coordination.blueprints import autoconnect from dimos.protocol.pubsub.impl.lcmpubsub import LCM from dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic import unitree_go2_agentic -from dimos.visualization.rerun.bridge import RerunBridgeModule, _resolve_viewer_mode +from dimos.visualization.rerun.bridge import RerunBridgeModule def _convert_camera_info(camera_info: Any) -> Any: @@ -90,7 +90,7 @@ def _go2_rerun_blueprint() -> Any: unitree_go2_security = autoconnect( unitree_go2_agentic, - RerunBridgeModule.blueprint(viewer_mode=_resolve_viewer_mode(), **rerun_config), + RerunBridgeModule.blueprint(**rerun_config), ) __all__ = ["unitree_go2_security"] diff --git a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py index ab55b7dbb6..f6fca0326d 100644 --- a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py +++ b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py @@ -22,10 +22,9 @@ from dimos.core.global_config import global_config from dimos.core.transport import pSHMTransport from dimos.msgs.sensor_msgs.Image import Image -from dimos.protocol.pubsub.impl.lcmpubsub import LCM from dimos.protocol.service.system_configurator.clock_sync import ClockSyncConfigurator from dimos.robot.unitree.go2.connection import GO2Connection -from dimos.web.websocket_vis.websocket_vis_module import WebsocketVisModule +from dimos.visualization.vis_module import vis_module # Mac has some issue with high bandwidth UDP, so we use pSHMTransport for color_image # actually we can use pSHMTransport for all platforms, and for all streams @@ -66,7 +65,6 @@ def _static_base_link(rr: Any) -> list[Any]: rr.Boxes3D( half_sizes=[0.35, 0.155, 0.2], colors=[(0, 255, 127)], - fill_mode="wireframe", ), rr.Transform3D(parent_frame="tf#/base_link"), ] @@ -97,9 +95,6 @@ def _go2_rerun_blueprint() -> Any: rerun_config = { "blueprint": _go2_rerun_blueprint, - # any pubsub that supports subscribe_all and topic that supports str(topic) - # is acceptable here - "pubsubs": [LCM()], # Custom converters for specific rerun entity paths # Normally all these would be specified in their respectative modules # Until this is implemented we have central overrides here @@ -121,29 +116,19 @@ def _go2_rerun_blueprint() -> Any: }, } - -if global_config.viewer == "foxglove": - from dimos.robot.foxglove_bridge import FoxgloveBridge - - with_vis = autoconnect( - _transports_base, - FoxgloveBridge.blueprint(shm_channels=["/color_image#sensor_msgs.Image"]), - ) -elif global_config.viewer.startswith("rerun"): - from dimos.visualization.rerun.bridge import RerunBridgeModule, _resolve_viewer_mode - - with_vis = autoconnect( - _transports_base, - RerunBridgeModule.blueprint(viewer_mode=_resolve_viewer_mode(), **rerun_config), - ) -else: - with_vis = _transports_base +_with_vis = autoconnect( + _transports_base, + vis_module( + viewer_backend=global_config.viewer, + rerun_config=rerun_config, + foxglove_config={"shm_channels": ["/color_image#sensor_msgs.Image"]}, + ), +) unitree_go2_basic = ( autoconnect( - with_vis, + _with_vis, GO2Connection.blueprint(), - WebsocketVisModule.blueprint(), ) .global_config(n_workers=4, robot_model="unitree_go2") .configurators(ClockSyncConfigurator()) diff --git a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_fleet.py b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_fleet.py index a7a10767bf..bda362eeca 100644 --- a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_fleet.py +++ b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_fleet.py @@ -22,15 +22,13 @@ from dimos.core.coordination.blueprints import autoconnect from dimos.protocol.service.system_configurator.clock_sync import ClockSyncConfigurator -from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import with_vis +from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import _with_vis from dimos.robot.unitree.go2.fleet_connection import Go2FleetConnection -from dimos.web.websocket_vis.websocket_vis_module import WebsocketVisModule unitree_go2_fleet = ( autoconnect( - with_vis, + _with_vis, Go2FleetConnection.blueprint(), - WebsocketVisModule.blueprint(), ) .global_config(n_workers=4, robot_model="unitree_go2") .configurators(ClockSyncConfigurator()) diff --git a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_webrtc_keyboard_teleop.py b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_webrtc_keyboard_teleop.py index 01117ec3b5..3be0c62379 100644 --- a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_webrtc_keyboard_teleop.py +++ b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_webrtc_keyboard_teleop.py @@ -31,6 +31,10 @@ unitree_go2_webrtc_keyboard_teleop = autoconnect( unitree_go2_coordinator, KeyboardTeleop.blueprint(), +).remappings( + [ + (KeyboardTeleop, "tele_cmd_vel", "cmd_vel"), + ] ) __all__ = ["unitree_go2_webrtc_keyboard_teleop"] diff --git a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2.py b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2.py index 5d92ff867c..26179371b8 100644 --- a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2.py +++ b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2.py @@ -21,6 +21,7 @@ ) from dimos.navigation.patrolling.module import PatrollingModule from dimos.navigation.replanning_a_star.module import ReplanningAStarPlanner +from dimos.navigation.smart_nav.modules.movement_manager.movement_manager import MovementManager from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import unitree_go2_basic unitree_go2 = autoconnect( @@ -30,6 +31,7 @@ ReplanningAStarPlanner.blueprint(), WavefrontFrontierExplorer.blueprint(), PatrollingModule.blueprint(), + MovementManager.blueprint(), ).global_config(n_workers=7, robot_model="unitree_go2") __all__ = ["unitree_go2"] diff --git a/dimos/robot/unitree/keyboard_teleop.py b/dimos/robot/unitree/keyboard_teleop.py index 4ebf6e3cce..23c2f312b2 100644 --- a/dimos/robot/unitree/keyboard_teleop.py +++ b/dimos/robot/unitree/keyboard_teleop.py @@ -33,10 +33,10 @@ class KeyboardTeleop(Module): """Pygame-based keyboard control module. - Outputs standard Twist messages on /cmd_vel for velocity control. + Outputs standard Twist messages on /tele_cmd_vel for velocity control. """ - cmd_vel: Out[Twist] # Standard velocity commands + tele_cmd_vel: Out[Twist] # Standard velocity commands _stop_event: threading.Event _keys_held: set[int] | None = None @@ -66,7 +66,7 @@ def stop(self) -> None: stop_twist = Twist() stop_twist.linear = Vector3(0, 0, 0) stop_twist.angular = Vector3(0, 0, 0) - self.cmd_vel.publish(stop_twist) + self.tele_cmd_vel.publish(stop_twist) self._stop_event.set() @@ -99,7 +99,7 @@ def _pygame_loop(self) -> None: stop_twist = Twist() stop_twist.linear = Vector3(0, 0, 0) stop_twist.angular = Vector3(0, 0, 0) - self.cmd_vel.publish(stop_twist) + self.tele_cmd_vel.publish(stop_twist) print("EMERGENCY STOP!") elif event.key == pygame.K_ESCAPE: # ESC quits @@ -143,7 +143,7 @@ def _pygame_loop(self) -> None: twist.angular.z *= speed_multiplier # Always publish twist at 50Hz - self.cmd_vel.publish(twist) + self.tele_cmd_vel.publish(twist) self._update_display(twist) diff --git a/dimos/robot/unitree/mujoco_connection.py b/dimos/robot/unitree/mujoco_connection.py index 03d15db756..5104799faa 100644 --- a/dimos/robot/unitree/mujoco_connection.py +++ b/dimos/robot/unitree/mujoco_connection.py @@ -20,9 +20,12 @@ from collections.abc import Callable import functools import json +import os +from pathlib import Path import pickle import subprocess import sys +import sysconfig import threading import time from typing import Any, TypeVar @@ -126,12 +129,23 @@ def start(self) -> None: # Launch the subprocess try: - # mjpython must be used macOS (because of launch_passive inside mujoco_process.py) + # mjpython must be used on macOS (because of launch_passive inside mujoco_process.py). + # It needs libpython on the dylib search path; uv-installed Pythons + # use @rpath which doesn't always resolve inside venvs, so we + # point DYLD_LIBRARY_PATH at the real libpython directory. executable = sys.executable if sys.platform != "darwin" else "mjpython" + env = os.environ.copy() + if sys.platform == "darwin": + # on some systems mujoco looks in the wrong place for shared libraries. So we force it look in the right place + libdir = Path(sysconfig.get_config_var("LIBDIR") or "") + if libdir.is_dir(): + existing = env.get("DYLD_LIBRARY_PATH", "") + env["DYLD_LIBRARY_PATH"] = f"{libdir}:{existing}" if existing else str(libdir) self.process = subprocess.Popen( [executable, str(LAUNCHER_PATH), config_pickle, shm_names_json], stderr=subprocess.PIPE, + env=env, ) except Exception as e: diff --git a/dimos/robot/unitree/rosnav.py b/dimos/robot/unitree/rosnav.py deleted file mode 100644 index 88e5bcf36c..0000000000 --- a/dimos/robot/unitree/rosnav.py +++ /dev/null @@ -1,134 +0,0 @@ -#!/usr/bin/env python3 -# Copyright 2025-2026 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. - -import logging -import time - -from dimos.core.core import rpc -from dimos.core.module import Module -from dimos.core.stream import In, Out -from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped -from dimos.msgs.sensor_msgs.Joy import Joy -from dimos.msgs.std_msgs.Bool import Bool -from dimos.utils.logging_config import setup_logger - -logger = setup_logger(level=logging.INFO) - - -# TODO: Remove, deprecated -class NavigationModule(Module): - goal_pose: Out[PoseStamped] - goal_reached: In[Bool] - cancel_goal: Out[Bool] - joy: Out[Joy] - goal_reach = None - - @rpc - def start(self) -> None: - """Start the navigation module.""" - if self.goal_reached: - self.goal_reached.subscribe(self._on_goal_reached) - logger.info("NavigationModule started") - - def _on_goal_reached(self, msg: Bool) -> None: - """Handle goal reached status messages.""" - self.goal_reach = msg.data - - def _set_autonomy_mode(self) -> None: - """ - Set autonomy mode by publishing Joy message. - """ - - joy_msg = Joy( - frame_id="dimos", - axes=[ - 0.0, # axis 0 - 0.0, # axis 1 - -1.0, # axis 2 - 0.0, # axis 3 - 1.0, # axis 4 - 1.0, # axis 5 - 0.0, # axis 6 - 0.0, # axis 7 - ], - buttons=[ - 0, # button 0 - 0, # button 1 - 0, # button 2 - 0, # button 3 - 0, # button 4 - 0, # button 5 - 0, # button 6 - 1, # button 7 - controls autonomy mode - 0, # button 8 - 0, # button 9 - 0, # button 10 - ], - ) - - if self.joy: - self.joy.publish(joy_msg) - logger.info("Setting autonomy mode via Joy message") - - @rpc - def go_to(self, pose: PoseStamped, timeout: float = 60.0) -> bool: - """ - Navigate to a target pose by publishing to LCM topics. - - Args: - pose: Target pose to navigate to - blocking: If True, block until goal is reached - timeout: Maximum time to wait for goal (seconds) - - Returns: - True if navigation was successful (or started if non-blocking) - """ - logger.info( - f"Navigating to goal: ({pose.position.x:.2f}, {pose.position.y:.2f}, {pose.position.z:.2f})" - ) - - self.goal_reach = None - self._set_autonomy_mode() - self.goal_pose.publish(pose) - time.sleep(0.2) - self.goal_pose.publish(pose) - - start_time = time.time() - while time.time() - start_time < timeout: - if self.goal_reach is not None: - return self.goal_reach - time.sleep(0.1) - - self.stop() - - logger.warning(f"Navigation timed out after {timeout} seconds") - return False - - @rpc - def stop(self) -> None: - """ - Cancel current navigation by publishing to cancel_goal. - - Returns: - True if cancel command was sent successfully - """ - logger.info("Cancelling navigation") - - if self.cancel_goal: - cancel_msg = Bool(data=True) - self.cancel_goal.publish(cancel_msg) - return - - return diff --git a/dimos/simulation/unity/blueprint.py b/dimos/simulation/unity/blueprint.py index f7e2d34ccb..d9b29ee610 100644 --- a/dimos/simulation/unity/blueprint.py +++ b/dimos/simulation/unity/blueprint.py @@ -28,7 +28,7 @@ from dimos.core.coordination.blueprints import autoconnect from dimos.protocol.pubsub.impl.lcmpubsub import LCM from dimos.simulation.unity.module import UnityBridgeModule -from dimos.visualization.rerun.bridge import RerunBridgeModule, _resolve_viewer_mode +from dimos.visualization.rerun.bridge import RerunBridgeModule def _rerun_blueprint() -> Any: @@ -57,5 +57,5 @@ def _rerun_blueprint() -> Any: unity_sim = autoconnect( UnityBridgeModule.blueprint(), - RerunBridgeModule.blueprint(viewer_mode=_resolve_viewer_mode(), **rerun_config), + RerunBridgeModule.blueprint(**rerun_config), ) diff --git a/dimos/simulation/unity/module.py b/dimos/simulation/unity/module.py index d354329477..73a16451ed 100644 --- a/dimos/simulation/unity/module.py +++ b/dimos/simulation/unity/module.py @@ -75,6 +75,10 @@ # LFS data asset name for the Unity sim binary _LFS_ASSET = "unity_sim_x86" +# Google Drive folder containing VLA Challenge environment zips +_GDRIVE_FOLDER_ID = "1UD5v6cSfcwIMWmsq9WSk7blJut4kgb-1" +_DEFAULT_SCENE = "office_1" + # Read timeout for the Unity TCP connection (seconds). If Unity stops # sending data for longer than this the bridge treats it as a hung # connection and drops it. @@ -146,6 +150,61 @@ def _validate_platform() -> None: ) +def _download_unity_scene(scene: str, dest_dir: Path) -> Path: + """Download a Unity environment zip from Google Drive and extract it. + + Returns the path to the Model.x86_64 binary. + """ + import zipfile + + try: + import gdown # type: ignore[import-untyped] + except ImportError: + raise RuntimeError( + "Unity sim binary not found and 'gdown' is not installed for auto-download. " + "Install it with: pip install gdown\n" + "Or manually download from: " + f"https://drive.google.com/drive/folders/{_GDRIVE_FOLDER_ID}" + ) from None + + dest_dir.mkdir(parents=True, exist_ok=True) + zip_path = dest_dir / f"{scene}.zip" + + if not zip_path.exists(): + print("\n" + "=" * 70, flush=True) + print(f" DOWNLOADING UNITY SIMULATOR — scene: '{scene}'", flush=True) + print(" Source: Google Drive (VLA Challenge environments)", flush=True) + print(f" Destination: {dest_dir}", flush=True) + print(" This is a one-time download.", flush=True) + print("=" * 70 + "\n", flush=True) + gdown.download_folder(id=_GDRIVE_FOLDER_ID, output=str(dest_dir), quiet=False) + for candidate in dest_dir.rglob(f"{scene}.zip"): + zip_path = candidate + break + + if not zip_path.exists(): + raise FileNotFoundError( + f"Failed to download scene '{scene}'. " + f"Check https://drive.google.com/drive/folders/{_GDRIVE_FOLDER_ID}" + ) + + extract_dir = dest_dir / scene + if not extract_dir.exists(): + logger.info(f"Extracting {zip_path}...") + with zipfile.ZipFile(zip_path, "r") as zf: + zf.extractall(dest_dir) + + binary = extract_dir / "environment" / "Model.x86_64" + if not binary.exists(): + raise FileNotFoundError( + f"Extracted scene but Model.x86_64 not found at {binary}. " + f"Expected structure: {scene}/environment/Model.x86_64" + ) + + binary.chmod(binary.stat().st_mode | 0o111) + return binary + + # Config @@ -158,9 +217,19 @@ class UnityBridgeConfig(ModuleConfig): """ # Path to the Unity x86_64 binary. Leave empty to auto-resolve - # from LFS data (unity_sim_x86/environment/Model.x86_64). + # from LFS data or auto-download from Google Drive. unity_binary: str = "" + # Scene name for auto-download (e.g. "office_1", "hotel_room_1"). + # Only used when unity_binary is not found and auto_download is True. + unity_scene: str = _DEFAULT_SCENE + + # Directory to download/cache Unity scenes. + unity_cache_dir: str = "~/.cache/dimos/unity_envs" + + # Auto-download the scene from Google Drive if binary is missing. + auto_download: bool = True + # Max seconds to wait for Unity to connect after launch. unity_connect_timeout: float = 30.0 @@ -200,6 +269,32 @@ class UnityBridgeConfig(ModuleConfig): # Set to 0.0 for no drift. odom_drift_rate: float = 0.0 + # ─── Terrain inclination fitting (port from ROS vehicleSimulator) ───── + # Enable RANSAC-style terrain plane fit to produce vehicle roll/pitch. + # Disabled by default — robot stays level when off. + terrain_inclination_enabled: bool = False + # Radius around robot to collect terrain points for the plane fit (m). + terrain_fit_radius: float = 1.5 + # Voxel downsample size for terrain points before fit (m). + terrain_fit_voxel_size: float = 0.05 + # Max iterations for outlier rejection. + terrain_fit_max_iterations: int = 5 + # Reject points farther than this from the current fit (m). + terrain_fit_outlier_threshold: float = 0.2 + # Require at least this many inliers for a valid fit. + terrain_fit_min_inliers: int = 500 + # Clamp terrain tilt to this absolute value (degrees). + terrain_max_incline_deg: float = 30.0 + # Band (m) around current terrain_z to treat as ground for plane fit. + terrain_ground_band: float = 0.3 + # Exponential smoothing rate for roll/pitch updates. + inclination_smooth_rate: float = 0.2 + + # ─── Sensor offset in kinematics (port from ROS vehicleSimulator) ───── + # Offset of the sensor origin from the vehicle center (m). + sensor_offset_x: float = 0.0 + sensor_offset_y: float = 0.0 + # Camera intrinsics constants. # @@ -242,6 +337,26 @@ class UnityBridgeModule(Module): semantic_image: Out[Image] camera_info: Out[CameraInfo] + @staticmethod + def rerun_blueprint() -> Any: + """3D world view stacked over a 2D camera panel for the Unity panoramic camera.""" + import rerun.blueprint as rrb + + return rrb.Blueprint( + rrb.Vertical( + rrb.Spatial3DView( + origin="world", + name="3D", + eye_controls=rrb.EyeControls3D( + position=(0.0, 0.0, 20.0), + look_target=(0.0, 0.0, 0.0), + eye_up=(0.0, 1.0, 0.0), + ), + ), + ), + collapse_panels=True, + ) + @staticmethod def rerun_static_pinhole(rr: Any) -> list[Any]: """Static Pinhole + Transform3D for the Unity panoramic camera.""" @@ -273,6 +388,12 @@ def __init__(self, **kwargs: Any) -> None: self._pitch = 0.0 self._yaw = self.config.init_yaw self._terrain_z = self.config.init_z + # Terrain plane tilt in world frame (updated by _on_terrain). + self._terrain_roll = 0.0 + self._terrain_pitch = 0.0 + # Previous frame roll/pitch/z for angular velocity estimate. + self._prev_roll = 0.0 + self._prev_pitch = 0.0 self._fwd_speed = 0.0 self._left_speed = 0.0 self._yaw_rate = 0.0 @@ -355,6 +476,14 @@ def _resolve_binary(self) -> Path | None: except Exception as e: logger.warning(f"Failed to resolve Unity binary from LFS: {e}") + # Auto-download from Google Drive (VLA Challenge scenes) + if cfg.auto_download: + try: + cache = Path(cfg.unity_cache_dir).expanduser() + return _download_unity_scene(cfg.unity_scene, cache) + except Exception as e: + logger.warning(f"Auto-download failed: {e}") + return None def _launch_unity(self) -> None: @@ -434,12 +563,89 @@ def _on_terrain(self, cloud: PointCloud2) -> None: return with self._state_lock: cur_x, cur_y = self._x, self._y + cur_terrain_z = self._terrain_z dx = points[:, 0] - cur_x dy = points[:, 1] - cur_y - near = points[np.sqrt(dx * dx + dy * dy) < 0.5] + dist = np.sqrt(dx * dx + dy * dy) + + # Z adjustment: points in a tight radius around robot set the terrain Z. + near = points[dist < 0.5] if len(near) >= 10: with self._state_lock: - self._terrain_z = 0.8 * self._terrain_z + 0.2 * near[:, 2].mean() + self._terrain_z = 0.8 * self._terrain_z + 0.2 * float(near[:, 2].mean()) + + if not self.config.terrain_inclination_enabled: + return + + # Collect ground-band points within the fit radius for plane fit. + in_radius = dist < self.config.terrain_fit_radius + near_z = np.abs(points[:, 2] - cur_terrain_z) < self.config.terrain_ground_band + fit_points = points[in_radius & near_z] + if len(fit_points) < self.config.terrain_fit_min_inliers: + return + + # Voxel downsample at terrain_fit_voxel_size. + vs = self.config.terrain_fit_voxel_size + keys = np.floor(fit_points / vs).astype(np.int64) + _, unique_idx = np.unique(keys, axis=0, return_index=True) + fit_points = fit_points[unique_idx] + if len(fit_points) < self.config.terrain_fit_min_inliers: + return + + # Local-frame A, B for least-squares solve: + # pitch*(-x+dx) + roll*(y-dy) = z - elev_mean + elev_mean = float(fit_points[:, 2].mean()) + a0 = -fit_points[:, 0] + cur_x + a1 = fit_points[:, 1] - cur_y + b = fit_points[:, 2] - elev_mean + + # Seed solution with current terrain tilt. + with self._state_lock: + pitch = self._terrain_pitch + roll = self._terrain_roll + + max_incl_rad = math.radians(self.config.terrain_max_incline_deg) + inlier_count = 0 + final_inliers = len(fit_points) + for it in range(self.config.terrain_fit_max_iterations): + # Build weight mask: outliers get zeroed out. + if it == 0: + w = np.ones_like(b) + else: + resid = np.abs(a0 * pitch + a1 * roll - b) + w = (resid <= self.config.terrain_fit_outlier_threshold).astype(np.float64) + + # Solve weighted least squares: [pitch, roll] = (A^T W A)^-1 A^T W b + wa0 = w * a0 + wa1 = w * a1 + m00 = float((wa0 * a0).sum()) + m01 = float((wa0 * a1).sum()) + m11 = float((wa1 * a1).sum()) + r0 = float((wa0 * b).sum()) + r1 = float((wa1 * b).sum()) + det = m00 * m11 - m01 * m01 + if abs(det) < 1e-9: + return + pitch = (m11 * r0 - m01 * r1) / det + roll = (-m01 * r0 + m00 * r1) / det + + new_inliers = int(w.sum()) + if new_inliers == inlier_count: + final_inliers = new_inliers + break + inlier_count = new_inliers + final_inliers = new_inliers + + if final_inliers < self.config.terrain_fit_min_inliers: + return + if abs(pitch) > max_incl_rad or abs(roll) > max_incl_rad: + return + + # Exponentially smooth terrain tilt in world frame. + alpha = self.config.inclination_smooth_rate + with self._state_lock: + self._terrain_pitch = (1.0 - alpha) * self._terrain_pitch + alpha * pitch + self._terrain_roll = (1.0 - alpha) * self._terrain_roll + alpha * roll def _unity_loop(self) -> None: server_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) @@ -606,6 +812,15 @@ def _sim_step(self, dt: float) -> None: with self._state_lock: prev_z = self._z + prev_roll = self._roll + prev_pitch = self._pitch + + # Rotate terrain tilt (world frame) into the vehicle body frame by yaw. + t_roll = self._terrain_roll + t_pitch = self._terrain_pitch + cy_prev, sy_prev = math.cos(self._yaw), math.sin(self._yaw) + self._roll = t_roll * cy_prev + t_pitch * sy_prev + self._pitch = -t_roll * sy_prev + t_pitch * cy_prev self._yaw += dt * yaw_rate if self._yaw > PI: @@ -614,8 +829,10 @@ def _sim_step(self, dt: float) -> None: self._yaw += 2 * PI cy, sy = math.cos(self._yaw), math.sin(self._yaw) - self._x += dt * cy * fwd - dt * sy * left - self._y += dt * sy * fwd + dt * cy * left + ox = self.config.sensor_offset_x + oy = self.config.sensor_offset_y + self._x += dt * cy * fwd - dt * sy * left + dt * yaw_rate * (-sy * ox - cy * oy) + self._y += dt * sy * fwd + dt * cy * left + dt * yaw_rate * (cy * ox - sy * oy) self._z = self._terrain_z + self.config.vehicle_height x, y, z = self._x, self._y, self._z @@ -648,7 +865,11 @@ def _sim_step(self, dt: float) -> None: ), twist=Twist( linear=[fwd, left, (z - prev_z) * self.config.sim_rate], - angular=[0.0, 0.0, yaw_rate], + angular=[ + (roll - prev_roll) * self.config.sim_rate, + (pitch - prev_pitch) * self.config.sim_rate, + yaw_rate, + ], ), ) ) diff --git a/dimos/simulation/unity/test_unity_sim.py b/dimos/simulation/unity/test_unity_sim.py index 4aa2e41a01..5ba019ff4e 100644 --- a/dimos/simulation/unity/test_unity_sim.py +++ b/dimos/simulation/unity/test_unity_sim.py @@ -23,6 +23,7 @@ @pytest.mark.skipif(not os.environ.get("DISPLAY"), reason="Unity requires a display (X11)") """ +import math import os import platform import socket @@ -265,6 +266,146 @@ def test_cmd_vel_moves_robot(self): assert last_odom.x == pytest.approx(1.0, abs=0.01) +# Terrain inclination & sensor offset (port from ROS vehicleSimulator) + + +class TestTerrainFit: + """Tests for RANSAC-style terrain plane fit.""" + + def _feed_terrain(self, m, points): + from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 + + cloud = PointCloud2.from_numpy(points.astype(np.float32), frame_id="map", timestamp=0.0) + m._on_terrain(cloud) + + def test_flat_terrain_returns_zero_tilt(self): + m = UnityBridgeModule( + unity_binary="", terrain_inclination_enabled=True, terrain_fit_min_inliers=100 + ) + _wire(m) + # 30x30 grid of ground points (900) around origin at z=0 + g = np.linspace(-1.0, 1.0, 30) + xx, yy = np.meshgrid(g, g) + pts = np.column_stack([xx.ravel(), yy.ravel(), np.zeros(xx.size)]) + self._feed_terrain(m, pts) + m.stop() + assert abs(m._terrain_roll) < 0.01 + assert abs(m._terrain_pitch) < 0.01 + + def test_sloped_terrain_returns_positive_pitch(self): + # Plane tilted along +x (forward slope down): z = -slope * x + slope = 0.1 # ~5.7 degrees + m = UnityBridgeModule( + unity_binary="", + terrain_inclination_enabled=True, + terrain_fit_min_inliers=100, + terrain_ground_band=5.0, # wide band so sloped points qualify + inclination_smooth_rate=1.0, # single-step update for predictable test + ) + _wire(m) + g = np.linspace(-1.0, 1.0, 30) + xx, yy = np.meshgrid(g, g) + zz = -slope * xx + pts = np.column_stack([xx.ravel(), yy.ravel(), zz.ravel()]) + # Pre-set terrain_z to match mean + m._terrain_z = 0.0 + self._feed_terrain(m, pts) + m.stop() + # Fit solves: pitch*(-x) + roll*y = z - z_mean = -slope*x + # so pitch = slope (positive), roll ≈ 0. + assert m._terrain_pitch == pytest.approx(slope, abs=0.01) + assert abs(m._terrain_roll) < 0.01 + + def test_insufficient_inliers_no_update(self): + m = UnityBridgeModule( + unity_binary="", + terrain_inclination_enabled=True, + terrain_fit_min_inliers=500, + ) + _wire(m) + # Only 4 ground points — below min_inliers=500 + pts = np.array([[0.0, 0.0, 0.0], [0.1, 0.0, 0.0], [0.0, 0.1, 0.0], [0.1, 0.1, 0.0]]) + m._terrain_roll = 0.05 + m._terrain_pitch = 0.05 + self._feed_terrain(m, pts) + m.stop() + # Values unchanged + assert m._terrain_roll == 0.05 + assert m._terrain_pitch == 0.05 + + def test_disabled_by_default(self): + m = UnityBridgeModule(unity_binary="") + _wire(m) + assert m.config.terrain_inclination_enabled is False + # Feed a sloped terrain — tilt should stay at 0 + g = np.linspace(-1.0, 1.0, 30) + xx, yy = np.meshgrid(g, g) + pts = np.column_stack([xx.ravel(), yy.ravel(), (-0.1 * xx).ravel()]) + self._feed_terrain(m, pts) + m.stop() + assert m._terrain_roll == 0.0 + assert m._terrain_pitch == 0.0 + + +class TestSensorOffset: + """Tests for sensor_offset_x/y in kinematics.""" + + def test_zero_offset_matches_old_behavior(self): + m = UnityBridgeModule( + unity_binary="", sim_rate=200.0, sensor_offset_x=0.0, sensor_offset_y=0.0 + ) + _wire(m) + dt = 1.0 / m.config.sim_rate + m._on_cmd_vel(Twist(linear=[1.0, 0.0, 0.0], angular=[0.0, 0.0, 0.0])) + for _ in range(200): + m._sim_step(dt) + m.stop() + assert m._x == pytest.approx(1.0, abs=0.01) + assert m._y == pytest.approx(0.0, abs=0.01) + + def test_pure_yaw_with_offset_displaces_position(self): + # With sensor_offset_x=0.5 and pure yaw rotation, the sensor origin + # traces a circle of radius 0.5 around the vehicle center. + m = UnityBridgeModule( + unity_binary="", sim_rate=200.0, sensor_offset_x=0.5, sensor_offset_y=0.0 + ) + _wire(m) + dt = 1.0 / m.config.sim_rate + m._on_cmd_vel(Twist(linear=[0.0, 0.0, 0.0], angular=[0.0, 0.0, 1.0])) # 1 rad/s yaw + # Quarter turn: π/2 radians → π/2 seconds → 0.5π/dt steps + steps = int((math.pi / 2.0) / dt) + for _ in range(steps): + m._sim_step(dt) + m.stop() + # Yaw should be ~π/2 + assert m._yaw == pytest.approx(math.pi / 2.0, abs=0.02) + # Sensor origin started at (0.5, 0) and travels on circle r=0.5 + # → after quarter turn ends at about (0, 0.5). + # Vehicle center is therefore at sensor - rotated_offset = (0 - 0, 0.5 - 0.5) = (0, 0)? + # Actually the state IS the sensor origin (integrated via the offset term). + # Started at x=0,y=0 (sensor). After rotating π/2, sensor should still be at + # the same radius from where the center was. + # Simpler assertion: x and y should be nonzero (displacement happened). + assert abs(m._x - 0.0) > 0.01 or abs(m._y - 0.0) > 0.01 + + def test_yaw_rate_roll_published(self): + # After enabling terrain fit with zero tilt, angular roll/pitch rates + # in published twist should be ~0. + m = UnityBridgeModule(unity_binary="", sim_rate=100.0, terrain_inclination_enabled=False) + ts = _wire(m) + dt = 1.0 / m.config.sim_rate + for _ in range(5): + m._sim_step(dt) + m.stop() + last = ts["odometry"]._messages[-1] + # Angular rates (from Odometry.twist) should include roll/pitch deltas; at zero tilt they're 0. + assert last.twist.angular.x == pytest.approx(0.0, abs=1e-6) + assert last.twist.angular.y == pytest.approx(0.0, abs=1e-6) + + +# Rerun Config — fast, runs everywhere + + class TestRerunConfig: def test_static_pinhole_returns_list(self): import rerun as rr diff --git a/dimos/teleop/quest/blueprints.py b/dimos/teleop/quest/blueprints.py index 57c925c3f0..b825f29a17 100644 --- a/dimos/teleop/quest/blueprints.py +++ b/dimos/teleop/quest/blueprints.py @@ -26,12 +26,12 @@ from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped from dimos.teleop.quest.quest_extensions import ArmTeleopModule from dimos.teleop.quest.quest_types import Buttons -from dimos.visualization.rerun.bridge import RerunBridgeModule +from dimos.visualization.vis_module import vis_module # Arm teleop with press-and-hold engage (has rerun viz) teleop_quest_rerun = autoconnect( ArmTeleopModule.blueprint(), - RerunBridgeModule.blueprint(), + vis_module("rerun"), ).transports( { ("left_controller_output", PoseStamped): LCMTransport("/teleop/left_delta", PoseStamped), diff --git a/dimos/utils/generic.py b/dimos/utils/generic.py index 84168ce057..dfe36306a9 100644 --- a/dimos/utils/generic.py +++ b/dimos/utils/generic.py @@ -20,6 +20,24 @@ from typing import Any, Generic, TypeVar, overload import uuid + +def get_local_ips() -> list[tuple[str, str]]: + """Return ``(ip, interface_name)`` for every non-loopback IPv4 address. + + Picks up physical, virtual, and VPN interfaces (including Tailscale). + """ + import socket + + import psutil + + results: list[tuple[str, str]] = [] + for iface, addrs in psutil.net_if_addrs().items(): + for addr in addrs: + if addr.family == socket.AF_INET and not addr.address.startswith("127."): + results.append((addr.address, iface)) + return results + + _T = TypeVar("_T") diff --git a/dimos/visualization/constants.py b/dimos/visualization/constants.py new file mode 100644 index 0000000000..3d22457033 --- /dev/null +++ b/dimos/visualization/constants.py @@ -0,0 +1,23 @@ +# 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. + +from typing import Literal, TypeAlias + +ViewerBackend: TypeAlias = Literal["rerun", "foxglove", "none"] +RerunOpenOption: TypeAlias = Literal["none", "web", "native", "both"] + +RERUN_OPEN_DEFAULT: RerunOpenOption = "native" +RERUN_ENABLE_WEB = True +RERUN_GRPC_PORT = 9876 +RERUN_WEB_PORT = 9090 diff --git a/dimos/visualization/rerun/bridge.py b/dimos/visualization/rerun/bridge.py index f4a7e6f226..1f7c85c9d5 100644 --- a/dimos/visualization/rerun/bridge.py +++ b/dimos/visualization/rerun/bridge.py @@ -18,26 +18,22 @@ from collections.abc import Callable from dataclasses import field -from functools import lru_cache import subprocess import time from typing import ( Any, - Literal, Protocol, TypeAlias, TypeGuard, cast, + get_args, runtime_checkable, ) from reactivex.disposable import Disposable -import rerun as rr from rerun._baseclasses import Archetype -import rerun.blueprint as rrb from rerun.blueprint import Blueprint from toolz import pipe # type: ignore[import-untyped] -import typer from dimos.core.core import rpc from dimos.core.module import Module, ModuleConfig @@ -46,9 +42,12 @@ from dimos.protocol.pubsub.patterns import Glob, pattern_matches from dimos.protocol.pubsub.spec import SubscribeAllCapable from dimos.utils.logging_config import setup_logger - -RERUN_GRPC_PORT = 9876 -RERUN_WEB_PORT = 9090 +from dimos.visualization.constants import ( + RERUN_ENABLE_WEB, + RERUN_GRPC_PORT, + RERUN_OPEN_DEFAULT, + RerunOpenOption, +) # TODO OUT visual annotations # @@ -119,17 +118,17 @@ class RerunConvertible(Protocol): def to_rerun(self) -> RerunData: ... -ViewerMode = Literal["native", "web", "connect", "none"] - - def _hex_to_rgba(hex_color: str) -> int: """Convert '#RRGGBB' to a 0xRRGGBBAA int (fully opaque).""" h = hex_color.lstrip("#") - return (int(h, 16) << 8) | 0xFF + if len(h) == 6: + return int(h + "ff", 16) + return int(h[:8], 16) def _with_graph_tab(bp: Blueprint) -> Blueprint: """Add a Graph tab alongside the existing viewer layout without changing it.""" + import rerun.blueprint as rrb root = bp.root_container return rrb.Blueprint( @@ -145,6 +144,9 @@ def _with_graph_tab(bp: Blueprint) -> Blueprint: def _default_blueprint() -> Blueprint: """Default blueprint with black background and raised grid.""" + import rerun as rr + import rerun.blueprint as rrb + return rrb.Blueprint( rrb.Spatial3DView( origin="world", @@ -156,22 +158,6 @@ def _default_blueprint() -> Blueprint: ) -# Maps global_config.viewer -> bridge viewer_mode. -# Evaluated at blueprint construction time (main process), not in start() (worker process). -_BACKEND_TO_MODE: dict[str, ViewerMode] = { - "rerun": "native", - "rerun-web": "web", - "rerun-connect": "connect", - "none": "none", -} - - -def _resolve_viewer_mode() -> ViewerMode: - from dimos.core.global_config import global_config - - return _BACKEND_TO_MODE.get(global_config.viewer, "native") - - class Config(ModuleConfig): """Configuration for RerunBridgeModule.""" @@ -188,9 +174,10 @@ class Config(ModuleConfig): entity_prefix: str = "world" topic_to_entity: Callable[[Any], str] | None = None - viewer_mode: ViewerMode = field(default_factory=_resolve_viewer_mode) connect_url: str = "rerun+http://127.0.0.1:9877/proxy" memory_limit: str = "25%" + rerun_open: RerunOpenOption = RERUN_OPEN_DEFAULT + rerun_web: bool = RERUN_ENABLE_WEB # Blueprint factory: callable(rrb) -> Blueprint for viewer layout configuration # Set to None to disable default blueprint @@ -214,12 +201,22 @@ class RerunBridgeModule(Module): """ config: Config + _last_log: dict[str, float] + + # Graphviz layout scale and node radii for blueprint graph + GV_SCALE = 100.0 + MODULE_RADIUS = 20.0 + CHANNEL_RADIUS = 12.0 + + def __init__(self, **kwargs: Any) -> None: + super().__init__(**kwargs) + self._last_log = {} + # Manual cache replaces @lru_cache on this method. lru_cache captures + # ``self`` as a cache key, which prevents garbage collection of the + # entire RerunBridgeModule (and everything it references). A plain + # dict on the instance avoids the leak and is cleared in stop(). + self._override_cache: dict[str, Callable[[Any], RerunData | None]] = {} - GV_SCALE = 100.0 # graphviz inches to rerun screen units - MODULE_RADIUS = 30.0 - CHANNEL_RADIUS = 20.0 - - @lru_cache(maxsize=256) def _visual_override_for_entity_path( self, entity_path: str ) -> Callable[[Any], RerunData | None]: @@ -228,6 +225,10 @@ def _visual_override_for_entity_path( Chains matching overrides from config, ending with final_convert which handles .to_rerun() or passes through Archetypes. """ + cached = self._override_cache.get(entity_path) + if cached is not None: + return cached + # find all matching converters for this entity path matches = [ fn @@ -237,7 +238,9 @@ def _visual_override_for_entity_path( # None means "suppress this topic entirely" if any(fn is None for fn in matches): - return lambda msg: None + result: Callable[[Any], RerunData | None] = lambda msg: None # noqa: E731 + self._override_cache[entity_path] = result + return result # final step (ensures we return Archetype or None) def final_convert(msg: Any) -> RerunData | None: @@ -250,7 +253,11 @@ def final_convert(msg: Any) -> RerunData | None: return None # compose all converters - return lambda msg: pipe(msg, *matches, final_convert) + composed: Callable[[Any], RerunData | None] = lambda msg: pipe( # noqa: E731 + msg, *matches, final_convert + ) + self._override_cache[entity_path] = composed + return composed def _get_entity_path(self, topic: Any) -> str: """Convert a topic to a Rerun entity path.""" @@ -265,6 +272,7 @@ def _get_entity_path(self, topic: Any) -> str: def _on_message(self, msg: Any, topic: Any) -> None: """Handle incoming message - log to rerun.""" + import rerun as rr entity_path: str = self._get_entity_path(topic) @@ -290,12 +298,17 @@ def _on_message(self, msg: Any, topic: Any) -> None: @rpc def start(self) -> None: + import socket + from urllib.parse import urlparse + + import rerun as rr + super().start() - logger.info("Rerun bridge starting", viewer_mode=self.config.viewer_mode) + logger.info("Rerun bridge starting") # Build throttle lookup: entity_path → min interval in seconds - self._last_log: dict[str, float] = {} + self._last_log = {} self._min_intervals: dict[str, float] = { entity: 1.0 / hz for entity, hz in self.config.max_hz.items() if hz > 0 } @@ -303,15 +316,48 @@ def start(self) -> None: # Initialize and spawn Rerun viewer rr.init("dimos") - if self.config.viewer_mode == "native": + # start grpc if needed + # If the port is already in use (another instance running), connect + + parsed = urlparse(self.config.connect_url.replace("rerun+", "", 1)) + grpc_port = parsed.port or RERUN_GRPC_PORT + + port_in_use = False + with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock: + port_in_use = sock.connect_ex(("127.0.0.1", grpc_port)) == 0 + + if port_in_use: + logger.info(f"gRPC port {grpc_port} already in use, connecting to existing server") + rr.connect_grpc(url=self.config.connect_url) + server_uri = self.config.connect_url + else: + server_uri = rr.serve_grpc( + grpc_port=grpc_port, + server_memory_limit=self.config.memory_limit, + ) + logger.info(f"Rerun gRPC server ready at {server_uri}") + + # Check open arg + if self.config.rerun_open not in get_args(RerunOpenOption): + logger.warning( + f"rerun_open was {self.config.rerun_open} which is not one of " + f"{get_args(RerunOpenOption)}" + ) + + # launch native viewer if desired + spawned = False + if self.config.rerun_open in ("native", "both"): try: import rerun_bindings + # Use --connect so the viewer connects to the bridge's gRPC + # server rather than starting its own (which would conflict). rerun_bindings.spawn( - port=RERUN_GRPC_PORT, executable_name="dimos-viewer", memory_limit=self.config.memory_limit, + extra_args=["--connect", server_uri], ) + spawned = True except ImportError: pass # dimos-viewer not installed except Exception: @@ -319,14 +365,30 @@ def start(self) -> None: "dimos-viewer found but failed to spawn, falling back to stock rerun", exc_info=True, ) - rr.spawn(connect=True, memory_limit=self.config.memory_limit) - elif self.config.viewer_mode == "web": - server_uri = rr.serve_grpc() - rr.serve_web_viewer(connect_to=server_uri, open_browser=False) - elif self.config.viewer_mode == "connect": - rr.connect_grpc(self.config.connect_url) - # "none" - just init, no viewer (connect externally) + # fallback on normal (non-dimos-viewer) rerun + if not spawned: + try: + rr.spawn(connect=True, memory_limit=self.config.memory_limit) + spawned = True + except (RuntimeError, FileNotFoundError): + logger.warning( + "Rerun native viewer not available (headless?). " + "Bridge will continue without a viewer — data is still " + "accessible via rerun-connect or rerun-web.", + exc_info=True, + ) + + # web + open_web = self.config.rerun_open == "web" or self.config.rerun_open == "both" + if open_web or self.config.rerun_web: + rr.serve_web_viewer(connect_to=server_uri, open_browser=open_web) + + # printout + if self.config.rerun_open == "none" or (self.config.rerun_open == "native" and not spawned): + self._log_connect_hints(grpc_port) + + # setup blueprint if self.config.blueprint: rr.send_blueprint(_with_graph_tab(self.config.blueprint())) @@ -348,7 +410,36 @@ def start(self) -> None: self._log_static() + def _log_connect_hints(self, grpc_port: int) -> None: + """Log CLI commands for connecting a viewer to this bridge.""" + import socket + + from dimos.utils.generic import get_local_ips + + local_ips = get_local_ips() + hostname = socket.gethostname() + connect_url = f"rerun+http://127.0.0.1:{grpc_port}/proxy" + + lines = [ + "", + "=" * 60, + "Rerun gRPC server running (no viewer opened)", + "", + "Connect a viewer:", + f" dimos-viewer --connect {connect_url}", + ] + for ip, iface in local_ips: + lines.append(f" dimos-viewer --connect rerun+http://{ip}:{grpc_port}/proxy # {iface}") + lines.append("") + lines.append(f" hostname: {hostname}") + lines.append("=" * 60) + lines.append("") + + logger.info("\n".join(lines)) + def _log_static(self) -> None: + import rerun as rr + for entity_path, factory in self.config.static.items(): data = factory(rr) if isinstance(data, list): @@ -368,6 +459,7 @@ def log_blueprint_graph(self, dot_code: str, module_names: list[str]) -> None: dot_code: The DOT-format graph (from ``introspection.blueprint.dot.render``). module_names: List of module class names (to distinguish modules from channels). """ + import rerun as rr try: result = subprocess.run( @@ -424,49 +516,5 @@ def log_blueprint_graph(self, dot_code: str, module_names: list[str]) -> None: @rpc def stop(self) -> None: + self._override_cache.clear() super().stop() - - -def run_bridge( - viewer_mode: str = "native", - memory_limit: str = "25%", -) -> None: - """Start a RerunBridgeModule with default LCM config and block until interrupted.""" - import signal - - from dimos.protocol.service.lcmservice import autoconf - - autoconf(check_only=True) - - bridge = RerunBridgeModule( - viewer_mode=viewer_mode, - memory_limit=memory_limit, - # any pubsub that supports subscribe_all and topic that supports str(topic) - # is acceptable here - pubsubs=[LCM()], - ) - - bridge.start() - - signal.signal(signal.SIGINT, lambda *_: bridge.stop()) - signal.pause() - - -app = typer.Typer() - - -@app.command() -def cli( - viewer_mode: str = typer.Option( - "native", help="Viewer mode: native (desktop), web (browser), none (headless)" - ), - memory_limit: str = typer.Option( - "25%", help="Memory limit for Rerun viewer (e.g., '4GB', '16GB', '25%')" - ), -) -> None: - """Rerun bridge for LCM messages.""" - run_bridge(viewer_mode=viewer_mode, memory_limit=memory_limit) - - -if __name__ == "__main__": - app() diff --git a/dimos/visualization/rerun/test_viewer_ws_e2e.py b/dimos/visualization/rerun/test_viewer_ws_e2e.py new file mode 100644 index 0000000000..ea8351f2f6 --- /dev/null +++ b/dimos/visualization/rerun/test_viewer_ws_e2e.py @@ -0,0 +1,328 @@ +# Copyright 2025-2026 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. + +"""End-to-end test: dimos-viewer (headless) → WebSocket → RerunWebSocketServer. + +dimos-viewer is started in ``--connect`` mode so it initialises its WebSocket +client. The viewer needs a gRPC proxy to connect to; we give it a non-existent +one so the viewer starts up anyway but produces no visualisation. The important +part is that the WebSocket client inside the viewer tries to connect to +``ws://127.0.0.1:/ws``. + +Because the viewer is a native GUI application it cannot run headlessly in CI +without a display. This test therefore verifies the connection at the protocol +level by using the ``RerunWebSocketServer`` module directly as the server and +injecting synthetic JSON messages that mimic what the viewer would send once a +user clicks in the 3D viewport. +""" + +import asyncio +import json +import os +import shutil +import subprocess +import threading +import time +from typing import Any + +import pytest + +from dimos.visualization.rerun.websocket_server import RerunWebSocketServer + +_E2E_PORT = 13032 + + +def _make_server(port: int = _E2E_PORT) -> RerunWebSocketServer: + return RerunWebSocketServer(port=port) + + +def _wait_for_server(port: int, timeout: float = 5.0) -> None: + import websockets.asyncio.client as ws_client + + async def _probe() -> None: + async with ws_client.connect(f"ws://127.0.0.1:{port}/ws"): + pass + + deadline = time.monotonic() + timeout + while time.monotonic() < deadline: + try: + asyncio.run(_probe()) + return + except Exception: + time.sleep(0.05) + raise TimeoutError(f"Server on port {port} did not become ready within {timeout}s") + + +def _send_messages(port: int, messages: list[dict[str, Any]], *, delay: float = 0.05) -> None: + import websockets.asyncio.client as ws_client + + async def _run() -> None: + async with ws_client.connect(f"ws://127.0.0.1:{port}/ws") as ws: + for msg in messages: + await ws.send(json.dumps(msg)) + await asyncio.sleep(delay) + + asyncio.run(_run()) + + +class TestViewerProtocolE2E: + """Verify the full Python-server side of the viewer ↔ DimOS protocol. + + These tests use the ``RerunWebSocketServer`` as the server and a dummy + WebSocket client (playing the role of dimos-viewer) to inject messages. + They confirm every message type is correctly routed and that only click + messages produce stream publishes. + """ + + def test_viewer_click_reaches_stream(self) -> None: + """A viewer click message received over WebSocket publishes PointStamped.""" + server = _make_server() + server.start() + _wait_for_server(_E2E_PORT) + + received: list[Any] = [] + done = threading.Event() + + def _on_pt(pt: Any) -> None: + received.append(pt) + done.set() + + server.clicked_point.subscribe(_on_pt) + + _send_messages( + _E2E_PORT, + [ + { + "type": "click", + "x": 10.0, + "y": 20.0, + "z": 0.5, + "entity_path": "/world/robot", + "timestamp_ms": 42000, + } + ], + ) + + done.wait(timeout=3.0) + server.stop() + + assert len(received) == 1 + pt = received[0] + assert abs(pt.x - 10.0) < 1e-9 + assert abs(pt.y - 20.0) < 1e-9 + assert abs(pt.z - 0.5) < 1e-9 + assert pt.frame_id == "/world/robot" + assert abs(pt.ts - 42.0) < 1e-6 + + def test_viewer_keyboard_twist_no_publish(self) -> None: + """Twist messages from keyboard control do not publish clicked_point.""" + server = _make_server() + server.start() + _wait_for_server(_E2E_PORT) + + received: list[Any] = [] + server.clicked_point.subscribe(received.append) + + _send_messages( + _E2E_PORT, + [ + { + "type": "twist", + "linear_x": 0.5, + "linear_y": 0.0, + "linear_z": 0.0, + "angular_x": 0.0, + "angular_y": 0.0, + "angular_z": 0.8, + } + ], + ) + + server.stop() + assert received == [] + + def test_viewer_stop_no_publish(self) -> None: + """Stop messages do not publish clicked_point.""" + server = _make_server() + server.start() + _wait_for_server(_E2E_PORT) + + received: list[Any] = [] + server.clicked_point.subscribe(received.append) + + _send_messages(_E2E_PORT, [{"type": "stop"}]) + + server.stop() + assert received == [] + + def test_full_viewer_session_sequence(self) -> None: + """Realistic session: connect, heartbeats, click, WASD, stop → one point.""" + server = _make_server() + server.start() + _wait_for_server(_E2E_PORT) + + received: list[Any] = [] + done = threading.Event() + + def _on_pt(pt: Any) -> None: + received.append(pt) + done.set() + + server.clicked_point.subscribe(_on_pt) + + _send_messages( + _E2E_PORT, + [ + # Initial heartbeats (viewer connects and starts 1 Hz heartbeat) + {"type": "heartbeat", "timestamp_ms": 1000}, + {"type": "heartbeat", "timestamp_ms": 2000}, + # User clicks a point in the 3D viewport + { + "type": "click", + "x": 3.14, + "y": 2.71, + "z": 1.41, + "entity_path": "/world", + "timestamp_ms": 3000, + }, + # User presses W (forward) + { + "type": "twist", + "linear_x": 0.5, + "linear_y": 0.0, + "linear_z": 0.0, + "angular_x": 0.0, + "angular_y": 0.0, + "angular_z": 0.0, + }, + # User releases W + {"type": "stop"}, + # Another heartbeat + {"type": "heartbeat", "timestamp_ms": 4000}, + ], + delay=0.2, + ) + + done.wait(timeout=3.0) + server.stop() + + assert len(received) == 1, f"Expected exactly 1 click, got {len(received)}" + pt = received[0] + assert abs(pt.x - 3.14) < 1e-9 + assert abs(pt.y - 2.71) < 1e-9 + assert abs(pt.z - 1.41) < 1e-9 + + def test_reconnect_after_disconnect(self) -> None: + """Server keeps accepting new connections after a client disconnects.""" + server = _make_server() + server.start() + _wait_for_server(_E2E_PORT) + + received: list[Any] = [] + all_done = threading.Event() + + def _on_pt(pt: Any) -> None: + received.append(pt) + if len(received) >= 2: + all_done.set() + + server.clicked_point.subscribe(_on_pt) + + # First connection — send one click and disconnect + _send_messages( + _E2E_PORT, + [{"type": "click", "x": 1.0, "y": 0.0, "z": 0.0, "entity_path": "", "timestamp_ms": 0}], + ) + + # Second connection (simulating viewer reconnect) — send another click + _send_messages( + _E2E_PORT, + [{"type": "click", "x": 2.0, "y": 0.0, "z": 0.0, "entity_path": "", "timestamp_ms": 0}], + ) + + all_done.wait(timeout=5.0) + server.stop() + + xs = sorted(pt.x for pt in received) + assert xs == [1.0, 2.0], f"Unexpected xs: {xs}" + + +class TestViewerBinaryConnectMode: + """Smoke test: dimos-viewer binary starts in --connect mode and its WebSocket + client attempts to connect to our Python server.""" + + @pytest.mark.skipif( + shutil.which("dimos-viewer") is None + or "--connect" + not in subprocess.run(["dimos-viewer", "--help"], capture_output=True, text=True).stdout, + reason="dimos-viewer binary not installed or does not support --connect", + ) + def test_viewer_ws_client_connects(self) -> None: + """dimos-viewer --connect starts and its WS client connects to our server.""" + server = _make_server() + server.start() + _wait_for_server(_E2E_PORT) + + received: list[Any] = [] + + def _on_pt(pt: Any) -> None: + received.append(pt) + + server.clicked_point.subscribe(_on_pt) + + # Start dimos-viewer in --connect mode, pointing it at a non-existent gRPC + # proxy (it will fail to stream data, but that's fine) and at our WS server. + # Use DISPLAY="" to prevent it from opening a window (it will exit quickly + # without a display, but the WebSocket connection happens before the GUI loop). + proc = subprocess.Popen( + [ + "dimos-viewer", + "--connect", + f"--ws-url=ws://127.0.0.1:{_E2E_PORT}/ws", + ], + env={ + **os.environ, + "DISPLAY": "", + }, + stdout=subprocess.PIPE, + stderr=subprocess.PIPE, + ) + + # Give the viewer up to 5 s to connect its WebSocket client to our server. + # We detect the connection by waiting for the server to accept a client. + deadline = time.monotonic() + 5.0 + while time.monotonic() < deadline: + # Check if any connection was established by sending a message and + # verifying the viewer is still running. + if proc.poll() is not None: + # Viewer exited (expected without a display) — check if it connected first. + break + time.sleep(0.1) + + proc.terminate() + try: + proc.wait(timeout=3) + except subprocess.TimeoutExpired: + proc.kill() + + stdout = proc.stdout.read().decode(errors="replace") if proc.stdout else "" + stderr = proc.stderr.read().decode(errors="replace") if proc.stderr else "" + server.stop() + + # The viewer should log that it is connecting to our WS URL. + # Check both stdout and stderr since log output destination varies. + combined = stdout + stderr + assert f"ws://127.0.0.1:{_E2E_PORT}" in combined, ( + f"Viewer did not attempt WS connection.\nstdout:\n{stdout}\nstderr:\n{stderr}" + ) diff --git a/dimos/visualization/rerun/test_websocket_server.py b/dimos/visualization/rerun/test_websocket_server.py new file mode 100644 index 0000000000..e8af1ed0f1 --- /dev/null +++ b/dimos/visualization/rerun/test_websocket_server.py @@ -0,0 +1,480 @@ +# Copyright 2025-2026 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. + +"""Tests for RerunWebSocketServer. + +Uses ``MockViewerPublisher`` to simulate dimos-viewer sending events, matching +the exact JSON protocol used by the Rust ``WsPublisher`` in the viewer. +""" + +import asyncio +import json +import threading +import time +from typing import Any + +from dimos.visualization.rerun.websocket_server import RerunWebSocketServer + +_TEST_PORT = 13031 + + +class MockViewerPublisher: + """Python mirror of the Rust WsPublisher in dimos-viewer. + + Connects to a running ``RerunWebSocketServer`` and exposes the same + ``send_click`` / ``send_twist`` / ``send_stop`` / ``send_heartbeat`` + API that the real viewer uses. Useful for unit tests that need to + exercise the server without a real viewer binary. + + Usage:: + + with MockViewerPublisher("ws://127.0.0.1:13031/ws") as pub: + pub.send_click(1.0, 2.0, 0.0, "/world", timestamp_ms=1000) + pub.send_twist(0.5, 0.0, 0.0, 0.0, 0.0, 0.8) + pub.send_stop() + """ + + def __init__(self, url: str) -> None: + self._url = url + self._ws: Any = None + self._loop: asyncio.AbstractEventLoop | None = None + + def __enter__(self) -> "MockViewerPublisher": + self._loop = asyncio.new_event_loop() + self._ws = self._loop.run_until_complete(self._connect()) + return self + + def __exit__(self, *_: Any) -> None: + if self._ws is not None and self._loop is not None: + self._loop.run_until_complete(self._ws.close()) + if self._loop is not None: + self._loop.close() + + async def _connect(self) -> Any: + import websockets.asyncio.client as ws_client + + return await ws_client.connect(self._url) + + def send_click( + self, + x: float, + y: float, + z: float, + entity_path: str = "", + timestamp_ms: int = 0, + ) -> None: + """Send a click event — matches viewer SelectionChange handler output.""" + self._send( + { + "type": "click", + "x": x, + "y": y, + "z": z, + "entity_path": entity_path, + "timestamp_ms": timestamp_ms, + } + ) + + def send_twist( + self, + linear_x: float, + linear_y: float, + linear_z: float, + angular_x: float, + angular_y: float, + angular_z: float, + ) -> None: + """Send a twist (WASD keyboard) event.""" + self._send( + { + "type": "twist", + "linear_x": linear_x, + "linear_y": linear_y, + "linear_z": linear_z, + "angular_x": angular_x, + "angular_y": angular_y, + "angular_z": angular_z, + } + ) + + def send_stop(self) -> None: + """Send a stop event (Space bar or key release).""" + self._send({"type": "stop"}) + + def send_heartbeat(self, timestamp_ms: int = 0) -> None: + """Send a heartbeat (1 Hz keepalive from viewer).""" + self._send({"type": "heartbeat", "timestamp_ms": timestamp_ms}) + + def flush(self, delay: float = 0.1) -> None: + """Wait briefly so the server processes queued messages.""" + time.sleep(delay) + + def _send(self, msg: dict[str, Any]) -> None: + assert self._loop is not None and self._ws is not None, "Not connected" + self._loop.run_until_complete(self._ws.send(json.dumps(msg))) + + +def _collect(received: list[Any], done: threading.Event) -> Any: + """Return a callback that appends to *received* and signals *done*.""" + + def _cb(msg: Any) -> None: + received.append(msg) + done.set() + + return _cb + + +def _make_module(port: int = _TEST_PORT, cmd_vel_scaling: Any = None) -> RerunWebSocketServer: + kwargs: dict[str, Any] = {"port": port} + if cmd_vel_scaling is not None: + kwargs["cmd_vel_scaling"] = cmd_vel_scaling + return RerunWebSocketServer(**kwargs) + + +def _wait_for_server(port: int, timeout: float = 3.0) -> None: + """Block until the WebSocket server accepts an upgrade handshake.""" + + async def _probe() -> None: + import websockets.asyncio.client as ws_client + + async with ws_client.connect(f"ws://127.0.0.1:{port}/ws"): + pass + + deadline = time.monotonic() + timeout + while time.monotonic() < deadline: + try: + asyncio.run(_probe()) + return + except Exception: + time.sleep(0.05) + raise TimeoutError(f"Server on port {port} did not become ready within {timeout}s") + + +class TestRerunWebSocketServerStartup: + def test_server_binds_port(self) -> None: + """After start(), the server must be reachable on the configured port.""" + mod = _make_module() + mod.start() + try: + _wait_for_server(_TEST_PORT) + finally: + mod.stop() + + def test_stop_is_idempotent(self) -> None: + """Calling stop() twice must not raise.""" + mod = _make_module() + mod.start() + _wait_for_server(_TEST_PORT) + mod.stop() + mod.stop() + + +class TestClickMessages: + def test_click_publishes_point_stamped(self) -> None: + """A single click publishes one PointStamped with correct coords.""" + mod = _make_module() + mod.start() + _wait_for_server(_TEST_PORT) + + received: list[Any] = [] + done = threading.Event() + mod.clicked_point.subscribe(_collect(received, done)) + + with MockViewerPublisher(f"ws://127.0.0.1:{_TEST_PORT}/ws") as pub: + pub.send_click(1.5, 2.5, 0.0, "/world", timestamp_ms=1000) + pub.flush() + + done.wait(timeout=2.0) + mod.stop() + + assert len(received) == 1 + pt = received[0] + assert abs(pt.x - 1.5) < 1e-9 + assert abs(pt.y - 2.5) < 1e-9 + assert abs(pt.z - 0.0) < 1e-9 + + def test_click_sets_frame_id_from_entity_path(self) -> None: + """entity_path is stored as frame_id on the published PointStamped.""" + mod = _make_module() + mod.start() + _wait_for_server(_TEST_PORT) + + received: list[Any] = [] + done = threading.Event() + mod.clicked_point.subscribe(_collect(received, done)) + + with MockViewerPublisher(f"ws://127.0.0.1:{_TEST_PORT}/ws") as pub: + pub.send_click(0.0, 0.0, 0.0, "/robot/base", timestamp_ms=2000) + pub.flush() + + done.wait(timeout=2.0) + mod.stop() + assert received and received[0].frame_id == "/robot/base" + + def test_click_timestamp_converted_from_ms(self) -> None: + """timestamp_ms is converted to seconds on PointStamped.ts.""" + mod = _make_module() + mod.start() + _wait_for_server(_TEST_PORT) + + received: list[Any] = [] + done = threading.Event() + mod.clicked_point.subscribe(_collect(received, done)) + + with MockViewerPublisher(f"ws://127.0.0.1:{_TEST_PORT}/ws") as pub: + pub.send_click(0.0, 0.0, 0.0, "", timestamp_ms=5000) + pub.flush() + + done.wait(timeout=2.0) + mod.stop() + assert received and abs(received[0].ts - 5.0) < 1e-6 + + def test_multiple_clicks_all_published(self) -> None: + """A burst of clicks all arrive on the stream.""" + mod = _make_module() + mod.start() + _wait_for_server(_TEST_PORT) + + received: list[Any] = [] + all_arrived = threading.Event() + + def _cb(pt: Any) -> None: + received.append(pt) + if len(received) >= 3: + all_arrived.set() + + mod.clicked_point.subscribe(_cb) + + with MockViewerPublisher(f"ws://127.0.0.1:{_TEST_PORT}/ws") as pub: + pub.send_click(1.0, 0.0, 0.0) + pub.send_click(2.0, 0.0, 0.0) + pub.send_click(3.0, 0.0, 0.0) + pub.flush() + + all_arrived.wait(timeout=3.0) + mod.stop() + + assert sorted(pt.x for pt in received) == [1.0, 2.0, 3.0] + + +class TestNonClickMessages: + def test_heartbeat_does_not_publish(self) -> None: + """Heartbeat messages must not trigger a clicked_point publish.""" + mod = _make_module() + mod.start() + _wait_for_server(_TEST_PORT) + + clicks: list[Any] = [] + twists: list[Any] = [] + twist_done = threading.Event() + mod.clicked_point.subscribe(clicks.append) + mod.tele_cmd_vel.subscribe(_collect(twists, twist_done)) + + with MockViewerPublisher(f"ws://127.0.0.1:{_TEST_PORT}/ws") as pub: + pub.send_heartbeat(9999) + # Send a canary twist so we know the server processed everything + pub.send_stop() + pub.flush() + + twist_done.wait(timeout=2.0) + mod.stop() + assert clicks == [] + + def test_twist_does_not_publish_clicked_point(self) -> None: + """Twist messages must not trigger a clicked_point publish.""" + mod = _make_module() + mod.start() + _wait_for_server(_TEST_PORT) + + clicks: list[Any] = [] + twists: list[Any] = [] + twist_done = threading.Event() + mod.clicked_point.subscribe(clicks.append) + mod.tele_cmd_vel.subscribe(_collect(twists, twist_done)) + + with MockViewerPublisher(f"ws://127.0.0.1:{_TEST_PORT}/ws") as pub: + pub.send_twist(0.5, 0.0, 0.0, 0.0, 0.0, 0.8) + pub.flush() + + twist_done.wait(timeout=2.0) + mod.stop() + assert clicks == [] + + def test_stop_does_not_publish_clicked_point(self) -> None: + """Stop messages must not trigger a clicked_point publish.""" + mod = _make_module() + mod.start() + _wait_for_server(_TEST_PORT) + + clicks: list[Any] = [] + twists: list[Any] = [] + twist_done = threading.Event() + mod.clicked_point.subscribe(clicks.append) + mod.tele_cmd_vel.subscribe(_collect(twists, twist_done)) + + with MockViewerPublisher(f"ws://127.0.0.1:{_TEST_PORT}/ws") as pub: + pub.send_stop() + pub.flush() + + twist_done.wait(timeout=2.0) + mod.stop() + assert clicks == [] + + def test_twist_publishes_on_tele_cmd_vel(self) -> None: + """Twist messages publish a Twist on the tele_cmd_vel stream.""" + mod = _make_module() + mod.start() + _wait_for_server(_TEST_PORT) + + received: list[Any] = [] + done = threading.Event() + mod.tele_cmd_vel.subscribe(_collect(received, done)) + + with MockViewerPublisher(f"ws://127.0.0.1:{_TEST_PORT}/ws") as pub: + pub.send_twist(0.5, 0.0, 0.0, 0.0, 0.0, 0.8) + pub.flush() + + done.wait(timeout=2.0) + mod.stop() + + assert len(received) == 1 + tw = received[0] + assert abs(tw.linear.x - 0.5) < 1e-9 + assert abs(tw.angular.z - 0.8) < 1e-9 + + def test_cmd_vel_scaling_applied_per_dimension(self) -> None: + """cmd_vel_scaling multiplies each component independently.""" + from dimos.visualization.rerun.websocket_server import CmdVelScaling + + mod = _make_module( + cmd_vel_scaling=CmdVelScaling(x=0.5, y=2.0, z=0.0, roll=1.0, pitch=3.0, yaw=0.25) + ) + mod.start() + _wait_for_server(_TEST_PORT) + + received: list[Any] = [] + done = threading.Event() + mod.tele_cmd_vel.subscribe(_collect(received, done)) + + with MockViewerPublisher(f"ws://127.0.0.1:{_TEST_PORT}/ws") as pub: + pub.send_twist(1.0, 1.0, 1.0, 1.0, 1.0, 1.0) + pub.flush() + + done.wait(timeout=2.0) + mod.stop() + + assert len(received) == 1 + tw = received[0] + assert abs(tw.linear.x - 0.5) < 1e-9 + assert abs(tw.linear.y - 2.0) < 1e-9 + assert abs(tw.linear.z - 0.0) < 1e-9 # z locked out + assert abs(tw.angular.x - 1.0) < 1e-9 # roll + assert abs(tw.angular.y - 3.0) < 1e-9 # pitch + assert abs(tw.angular.z - 0.25) < 1e-9 # yaw + + def test_cmd_vel_scaling_default_is_identity(self) -> None: + """Default CmdVelScaling() must pass twists through untouched.""" + mod = _make_module() + mod.start() + _wait_for_server(_TEST_PORT) + + received: list[Any] = [] + done = threading.Event() + mod.tele_cmd_vel.subscribe(_collect(received, done)) + + with MockViewerPublisher(f"ws://127.0.0.1:{_TEST_PORT}/ws") as pub: + pub.send_twist(0.3, 0.4, 0.5, 0.6, 0.7, 0.8) + pub.flush() + + done.wait(timeout=2.0) + mod.stop() + + assert len(received) == 1 + tw = received[0] + assert abs(tw.linear.x - 0.3) < 1e-9 + assert abs(tw.linear.y - 0.4) < 1e-9 + assert abs(tw.linear.z - 0.5) < 1e-9 + assert abs(tw.angular.x - 0.6) < 1e-9 + assert abs(tw.angular.y - 0.7) < 1e-9 + assert abs(tw.angular.z - 0.8) < 1e-9 + + def test_stop_publishes_zero_twist_on_tele_cmd_vel(self) -> None: + """Stop messages publish a zero Twist on the tele_cmd_vel stream.""" + mod = _make_module() + mod.start() + _wait_for_server(_TEST_PORT) + + received: list[Any] = [] + done = threading.Event() + mod.tele_cmd_vel.subscribe(_collect(received, done)) + + with MockViewerPublisher(f"ws://127.0.0.1:{_TEST_PORT}/ws") as pub: + pub.send_stop() + pub.flush() + + done.wait(timeout=2.0) + mod.stop() + + assert len(received) == 1 + tw = received[0] + assert tw.is_zero() + + def test_invalid_json_does_not_crash(self) -> None: + """Malformed JSON is silently dropped; server stays alive.""" + import websockets.asyncio.client as ws_client + + mod = _make_module() + mod.start() + _wait_for_server(_TEST_PORT) + + async def _send_bad() -> None: + async with ws_client.connect(f"ws://127.0.0.1:{_TEST_PORT}/ws") as ws: + await ws.send("this is not json {{") + await asyncio.sleep(0.1) + await ws.send(json.dumps({"type": "heartbeat", "timestamp_ms": 0})) + await asyncio.sleep(0.1) + + asyncio.run(_send_bad()) + mod.stop() + + def test_mixed_message_sequence(self) -> None: + """Realistic sequence: heartbeat → click → twist → stop publishes one point.""" + mod = _make_module() + mod.start() + _wait_for_server(_TEST_PORT) + + # Subscribe before sending so we don't race against the click dispatch. + received: list[Any] = [] + done = threading.Event() + + def _cb(pt: Any) -> None: + received.append(pt) + done.set() + + mod.clicked_point.subscribe(_cb) + + with MockViewerPublisher(f"ws://127.0.0.1:{_TEST_PORT}/ws") as pub: + pub.send_heartbeat(1000) + pub.send_click(7.0, 8.0, 9.0, "/map", timestamp_ms=1100) + pub.send_twist(0.3, 0.0, 0.0, 0.0, 0.0, 0.2) + pub.send_stop() + pub.flush() + + done.wait(timeout=2.0) + mod.stop() + + assert len(received) == 1 + assert abs(received[0].x - 7.0) < 1e-9 + assert abs(received[0].y - 8.0) < 1e-9 + assert abs(received[0].z - 9.0) < 1e-9 diff --git a/dimos/visualization/rerun/websocket_server.py b/dimos/visualization/rerun/websocket_server.py new file mode 100644 index 0000000000..cf88ad81ca --- /dev/null +++ b/dimos/visualization/rerun/websocket_server.py @@ -0,0 +1,266 @@ +# Copyright 2025-2026 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. + +"""WebSocket server module that receives events from dimos-viewer. + +When dimos-viewer is started with ``--connect``, LCM multicast is unavailable +across machines. The viewer falls back to sending click, twist, and stop events +as JSON over a WebSocket connection. This module acts as the server-side +counterpart: it listens for those connections and translates incoming messages +into DimOS stream publishes. + +Message format (newline-delimited JSON, ``"type"`` discriminant): + + {"type":"heartbeat","timestamp_ms":1234567890} + {"type":"click","x":1.0,"y":2.0,"z":3.0,"entity_path":"/world","timestamp_ms":1234567890} + {"type":"twist","linear_x":0.5,"linear_y":0.0,"linear_z":0.0, + "angular_x":0.0,"angular_y":0.0,"angular_z":0.8} + {"type":"stop"} +""" + +import asyncio +import json +import logging +import threading +from typing import Any + +from pydantic import BaseModel +import websockets + +from dimos.core.core import rpc +from dimos.core.module import Module, ModuleConfig +from dimos.core.stream import Out +from dimos.msgs.geometry_msgs.PointStamped import PointStamped +from dimos.msgs.geometry_msgs.Twist import Twist +from dimos.msgs.geometry_msgs.Vector3 import Vector3 +from dimos.utils.logging_config import setup_logger + +logger = setup_logger() + + +def _handshake_noise_filter(record: logging.LogRecord) -> bool: + """Drop noisy "opening handshake failed" records from port scanners etc.""" + msg = record.getMessage() + return not ("opening handshake failed" in msg or "did not receive a valid HTTP request" in msg) + + +class CmdVelScaling(BaseModel): + """Per-dimension multipliers applied to outgoing teleop cmd_vel twists. + + ``x``/``y``/``z`` scale ``linear.x``/``linear.y``/``linear.z``. + ``roll``/``pitch``/``yaw`` scale ``angular.x``/``angular.y``/``angular.z`` + (ROS convention: roll around X, pitch around Y, yaw around Z). + + Defaults are all ``1.0`` — identity passthrough. Set to ``0.0`` to + lock out a dimension entirely, or to a fraction (e.g. ``0.3``) to + cap the operator's effective speed on that axis. + """ + + x: float = 1.0 + y: float = 1.0 + z: float = 1.0 + roll: float = 1.0 + pitch: float = 1.0 + yaw: float = 1.0 + + +class RerunWebSocketServerConfig(ModuleConfig): + # Intentionally binds 0.0.0.0 by default so the viewer can connect from + # any machine on the network (the typical robot deployment scenario). + host: str = "0.0.0.0" + port: int = 3030 + start_timeout: float = 10.0 # seconds to wait for the server to bind + cmd_vel_scaling: CmdVelScaling = CmdVelScaling() + + +class RerunWebSocketServer(Module): + """Receives dimos-viewer WebSocket events and publishes them as DimOS streams. + + The viewer connects to this module (not the other way around) when running + in ``--connect`` mode. Each click event is converted to a ``PointStamped`` + and published on the ``clicked_point`` stream so downstream modules (e.g. + ``ReplanningAStarPlanner``) can consume it without modification. + + Outputs: + clicked_point: 3-D world-space point from the most recent viewer click. + tele_cmd_vel: Twist velocity commands from keyboard teleop, including stop events. + + Note: ``stop_movement`` is owned by ``MovementManager`` — it will fire + that signal when it sees the first teleop twist arrive here. + """ + + config: RerunWebSocketServerConfig + + clicked_point: Out[PointStamped] + tele_cmd_vel: Out[Twist] + + def __init__(self, **kwargs: Any) -> None: + super().__init__(**kwargs) + self._ws_loop: asyncio.AbstractEventLoop | None = None + self._server_thread: threading.Thread | None = None + self._stop_event: asyncio.Event | None = None + self._server_ready = threading.Event() + + @rpc + def start(self) -> None: + super().start() + self._server_thread = threading.Thread( + target=self._run_server, daemon=True, name="rerun-ws-server" + ) + self._server_thread.start() + self._server_ready.wait(timeout=self.config.start_timeout) + self._log_connect_hints() + + @rpc + def stop(self) -> None: + # Wait briefly for the server thread to initialise _stop_event so we + # don't silently skip the shutdown signal (race with _serve()). + self._server_ready.wait(timeout=self.config.start_timeout) + if ( + self._ws_loop is not None + and not self._ws_loop.is_closed() + and self._stop_event is not None + ): + self._ws_loop.call_soon_threadsafe(self._stop_event.set) + # Join the server thread so tests that check for thread leaks pass, + # and so a subsequent start() doesn't race with a still-running + # previous instance on the same port. + if self._server_thread is not None and self._server_thread.is_alive(): + self._server_thread.join(timeout=self.config.start_timeout) + super().stop() + + def _log_connect_hints(self) -> None: + """Log the WebSocket URL(s) that viewers should connect to.""" + import socket + + from dimos.utils.generic import get_local_ips + + local_ips = get_local_ips() + hostname = socket.gethostname() + ws_url = f"ws://127.0.0.1:{self.config.port}/ws" + + lines = [ + "", + "=" * 60, + f"RerunWebSocketServer listening on {ws_url}", + "", + ] + if local_ips: + lines.append("From another machine on the network:") + for ip, iface in local_ips: + lines.append(f" ws://{ip}:{self.config.port}/ws # {iface}") + lines.append("") + lines.append(f" hostname: {hostname}") + lines.append("=" * 60) + lines.append("") + + logger.info("\n".join(lines)) + + def _run_server(self) -> None: + """Entry point for the background server thread.""" + self._ws_loop = asyncio.new_event_loop() + try: + self._ws_loop.run_until_complete(self._serve()) + except Exception: + logger.error("RerunWebSocketServer failed to start", exc_info=True) + finally: + self._server_ready.set() # unblock stop() even on failure + self._ws_loop.close() + + async def _serve(self) -> None: + import websockets.asyncio.server as ws_server + + self._stop_event = asyncio.Event() + + # Filter out handshake failures from port scanners / gRPC probes / + # health checks — they log at ERROR level with the message + # "opening handshake failed" and aren't actionable. + ws_logger = logging.getLogger("websockets.server") + ws_logger.addFilter(_handshake_noise_filter) + + async with ws_server.serve( + self._handle_client, + host=self.config.host, + port=self.config.port, + # Ping every 30 s, allow 30 s for pong — generous enough to + # survive brief network hiccups while still detecting dead clients. + ping_interval=30, + ping_timeout=30, + logger=ws_logger, + ): + self._server_ready.set() + await self._stop_event.wait() + + async def _handle_client(self, websocket: Any) -> None: + if hasattr(websocket, "request") and websocket.request.path != "/ws": + await websocket.close(1008, "Not Found") + return + addr = websocket.remote_address + logger.info(f"RerunWebSocketServer: viewer connected from {addr}") + try: + async for raw in websocket: + self._dispatch(raw) + except websockets.ConnectionClosed as exc: + logger.debug(f"RerunWebSocketServer: client {addr} disconnected ({exc})") + + def _dispatch(self, raw: str | bytes) -> None: + try: + msg = json.loads(raw) + except json.JSONDecodeError: + logger.warning(f"RerunWebSocketServer: ignoring non-JSON message: {raw!r}") + return + + if not isinstance(msg, dict): + logger.warning(f"RerunWebSocketServer: expected JSON object, got {type(msg).__name__}") + return + + msg_type = msg.get("type") + + if msg_type == "click": + pt = PointStamped( + x=float(msg.get("x", 0)), + y=float(msg.get("y", 0)), + z=float(msg.get("z", 0)), + ts=float(msg.get("timestamp_ms", 0)) / 1000.0, + frame_id=str(msg.get("entity_path", "")), + ) + logger.debug(f"RerunWebSocketServer: click → {pt}") + self.clicked_point.publish(pt) + + elif msg_type == "twist": + s = self.config.cmd_vel_scaling + twist = Twist( + linear=Vector3( + float(msg.get("linear_x", 0)) * s.x, + float(msg.get("linear_y", 0)) * s.y, + float(msg.get("linear_z", 0)) * s.z, + ), + angular=Vector3( + float(msg.get("angular_x", 0)) * s.roll, + float(msg.get("angular_y", 0)) * s.pitch, + float(msg.get("angular_z", 0)) * s.yaw, + ), + ) + logger.debug(f"RerunWebSocketServer: twist → {twist}") + self.tele_cmd_vel.publish(twist) + + elif msg_type == "stop": + logger.debug("RerunWebSocketServer: stop") + self.tele_cmd_vel.publish(Twist.zero()) + + elif msg_type == "heartbeat": + logger.debug(f"RerunWebSocketServer: heartbeat ts={msg.get('timestamp_ms')}") + + else: + logger.warning(f"RerunWebSocketServer: unknown message type {msg_type!r}") diff --git a/dimos/visualization/vis_module.py b/dimos/visualization/vis_module.py new file mode 100644 index 0000000000..c1aa04bcc6 --- /dev/null +++ b/dimos/visualization/vis_module.py @@ -0,0 +1,87 @@ +#!/usr/bin/env python3 +# Copyright 2025-2026 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. + +"""Shared visualization module factory for all robot blueprints.""" + +from typing import Any, get_args + +from dimos.core.coordination.blueprints import Blueprint, autoconnect +from dimos.visualization.constants import ViewerBackend + + +def vis_module( + viewer_backend: ViewerBackend, + rerun_config: dict[str, Any] | None = None, + foxglove_config: dict[str, Any] | None = None, +) -> Blueprint: + """Create a visualization blueprint based on the selected viewer backend. + + Bundles the appropriate viewer module (Rerun or Foxglove) together with + the ``WebsocketVisModule`` and ``RerunWebSocketServer`` so that the web + dashboard and remote viewer connections work out of the box. + + Example usage:: + + from dimos.core.global_config import global_config + viz = vis_module( + global_config.viewer, + rerun_config={ + "visual_override": { + "world/camera_info": lambda ci: ci.to_rerun(...), + }, + "static": { + "world/tf/base_link": lambda rr: [rr.Boxes3D(...)], + }, + }, + ) + """ + from dimos.visualization.rerun.websocket_server import RerunWebSocketServer + from dimos.web.websocket_vis.websocket_vis_module import WebsocketVisModule + + if foxglove_config is None: + foxglove_config = {} + if rerun_config is None: + rerun_config = {} + + match viewer_backend: + case "foxglove": + from dimos.robot.foxglove_bridge import FoxgloveBridge + + return autoconnect( + FoxgloveBridge.blueprint(**foxglove_config), + RerunWebSocketServer.blueprint(), + WebsocketVisModule.blueprint(), + ) + case "rerun": + from dimos.core.global_config import global_config + from dimos.protocol.pubsub.impl.lcmpubsub import LCM + from dimos.visualization.rerun.bridge import RerunBridgeModule + + rerun_config = {**rerun_config} # copy (avoid mutation) + rerun_config.setdefault("pubsubs", [LCM()]) + rerun_config.setdefault("rerun_open", global_config.rerun_open) + rerun_config.setdefault("rerun_web", global_config.rerun_web) + return autoconnect( + RerunBridgeModule.blueprint( + **rerun_config, + ), + RerunWebSocketServer.blueprint(), + WebsocketVisModule.blueprint(), + ) + case "none": + return autoconnect(WebsocketVisModule.blueprint()) + case _: + valid = ", ".join(get_args(ViewerBackend)) + raise ValueError(f"Unknown viewer_backend {viewer_backend!r}. Expected one of: {valid}") diff --git a/dimos/web/websocket_vis/websocket_vis_module.py b/dimos/web/websocket_vis/websocket_vis_module.py index 93e3cbc8ef..1463fd03dc 100644 --- a/dimos/web/websocket_vis/websocket_vis_module.py +++ b/dimos/web/websocket_vis/websocket_vis_module.py @@ -104,7 +104,7 @@ class WebsocketVisModule(Module): gps_goal: Out[LatLon] explore_cmd: Out[Bool] stop_explore_cmd: Out[Bool] - cmd_vel: Out[Twist] + tele_cmd_vel: Out[Twist] movecmd_stamped: Out[TwistStamped] def __init__(self, **kwargs: Any) -> None: @@ -157,9 +157,11 @@ def start(self) -> None: self._uvicorn_server_thread = threading.Thread(target=self._run_uvicorn_server, daemon=True) self._uvicorn_server_thread.start() - # Auto-open browser only for rerun-web (dashboard with Rerun iframe + command center) - # For rerun and foxglove, users access the command center manually if needed - if self.config.g.viewer == "rerun-web": + # Auto-open the dashboard tab only when the user explicitly asked for a + # web-based viewer (rerun_open == "web" or "both"). `rerun_web` alone + # only means "serve the viewer"; it should not trigger a browser popup + # when the user chose the native viewer. + if self.config.g.viewer == "rerun" and self.config.g.rerun_open in ("web", "both"): url = f"http://localhost:{self.config.port}/" logger.info(f"Dimensional Command Center: {url}") @@ -235,11 +237,13 @@ def _create_server(self) -> None: async def serve_index(request): # type: ignore[no-untyped-def] """Serve appropriate HTML based on viewer mode.""" - # If running native Rerun, redirect to standalone command center - if self.config.g.viewer != "rerun-web": + # Serve the full dashboard (with Rerun iframe) only when the rerun + # web server is enabled; otherwise redirect to the standalone + # command center. + if not ( + self.config.g.viewer == "rerun" and self.config.g.rerun_open in ("web", "both") + ): return RedirectResponse(url="/command-center") - - # Otherwise serve full dashboard with Rerun iframe return FileResponse(_DASHBOARD_HTML, media_type="text/html") async def serve_command_center(request): # type: ignore[no-untyped-def] @@ -332,14 +336,14 @@ async def clear_gps_goals(sid: str) -> None: @self.sio.event # type: ignore[untyped-decorator] async def move_command(sid: str, data: dict[str, Any]) -> None: # Publish Twist if transport is configured - if self.cmd_vel and self.cmd_vel.transport: + if self.tele_cmd_vel and self.tele_cmd_vel.transport: twist = Twist( linear=Vector3(data["linear"]["x"], data["linear"]["y"], data["linear"]["z"]), angular=Vector3( data["angular"]["x"], data["angular"]["y"], data["angular"]["z"] ), ) - self.cmd_vel.publish(twist) + self.tele_cmd_vel.publish(twist) # Publish TwistStamped if transport is configured if self.movecmd_stamped and self.movecmd_stamped.transport: diff --git a/docker/navigation/.env.hardware b/docker/navigation/.env.hardware deleted file mode 100644 index fc0e34581e..0000000000 --- a/docker/navigation/.env.hardware +++ /dev/null @@ -1,65 +0,0 @@ -# Hardware Configuration Environment Variables -# Copy this file to .env and customize for your hardware setup - -#DOCKER_RUNTIME=nvidia - -ROS_DOMAIN_ID=42 - -# Robot configuration ('mechanum_drive', 'unitree/unitree_g1', 'unitree/unitree_g1', etc) -ROBOT_CONFIG_PATH=mechanum_drive - -# Robot IP address on local network for connection over WebRTC -# For Unitree Go2, Unitree G1, if using WebRTCConnection -# This can be found in the unitree app under Device settings or via network scan -ROBOT_IP= - -# Find with: ip addr show -LIDAR_INTERFACE=eth0 - -# Processing computer IP address on the lidar subnet -# Must be on the same subnet as the lidar (e.g., 192.168.1.5) -# LIDAR_COMPUTER_IP=192.168.123.5 # FOR UNITREE G1 EDU -LIDAR_COMPUTER_IP=192.168.1.5 - -# Gateway IP address for the lidar subnet -# LIDAR_GATEWAY=192.168.123.1 # FOR UNITREE G1 EDU -LIDAR_GATEWAY=192.168.1.1 - -# Full IP address of your Mid-360 lidar -# This should match the IP configured on your lidar device -# Common patterns: 192.168.1.1XX or 192.168.123.1XX -# LIDAR_IP=192.168.123.120 # FOR UNITREE G1 EDU -LIDAR_IP=192.168.1.116 - -# Check with: ls /dev/ttyACM* or ls /dev/ttyUSB* -MOTOR_SERIAL_DEVICE=/dev/ttyACM0 - -# Set to true if using wireless base station -ENABLE_WIFI_BUFFER=false - -#USE_UNITREE=true - -# Unitree robot IP address -UNITREE_IP=192.168.12.1 - -# Unitree connection method (LocalAP or Ethernet) -UNITREE_CONN=LocalAP - -USE_ROUTE_PLANNER=false - -# Enable RViz visualization -USE_RVIZ=false - -# Map path for localization mode (leave empty for SLAM/mapping mode) -# Set to file prefix (no .pcd extension), e.g., /ros2_ws/maps/warehouse -# The system will load: MAP_PATH.pcd for SLAM, MAP_PATH_tomogram.pickle for PCT planner -MAP_PATH= - -# Find with: getent group input | cut -d: -f3 -INPUT_GID=995 - -# Group ID for serial devices -# Find with: getent group dialout | cut -d: -f3 -DIALOUT_GID=20 - -# DISPLAY=:0 diff --git a/docker/navigation/.gitignore b/docker/navigation/.gitignore deleted file mode 100644 index 0eaccbc740..0000000000 --- a/docker/navigation/.gitignore +++ /dev/null @@ -1,20 +0,0 @@ -# Cloned repository -ros-navigation-autonomy-stack/ - -# Unity models (large binary files) -unity_models/ - -# ROS bag files -bagfiles/ - -# Config files (may contain local settings) -config/ - -# Docker volumes -.docker/ - -# Temporary files -*.tmp -*.log -*.swp -*~ diff --git a/docker/navigation/Dockerfile b/docker/navigation/Dockerfile deleted file mode 100644 index dc2ce54f39..0000000000 --- a/docker/navigation/Dockerfile +++ /dev/null @@ -1,489 +0,0 @@ -# Multi-stage build for ROS 2 navigation with SLAM support. -# Includes both arise_slam and FASTLIO2 - select at runtime via LOCALIZATION_METHOD. -# Supported configurations: -# - ROS distributions: humble, jazzy -# - SLAM methods: arise_slam (default), fastlio (set LOCALIZATION_METHOD=fastlio) -# Build: -# ./build.sh --humble # Build for ROS 2 Humble -# ./build.sh --jazzy # Build for ROS 2 Jazzy -# Run: -# ./start.sh --hardware --route-planner # Uses arise_slam -# LOCALIZATION_METHOD=fastlio ./start.sh --hardware --route-planner # Uses FASTLIO2 - -# Build argument for ROS distribution (default: humble) -ARG ROS_DISTRO=humble -ARG TARGETARCH - -# - amd64: Use osrf/ros desktop-full (includes Gazebo, full GUI) -FROM osrf/ros:${ROS_DISTRO}-desktop-full AS base-amd64 -FROM ros:${ROS_DISTRO}-ros-base AS base-arm64 - -FROM base-${TARGETARCH} AS builder - -ARG ROS_DISTRO -ENV DEBIAN_FRONTEND=noninteractive -ENV ROS_DISTRO=${ROS_DISTRO} -ENV WORKSPACE=/ros2_ws - -# Install build dependencies only -RUN apt-get update && apt-get install -y --no-install-recommends \ - # Build tools - git \ - cmake \ - build-essential \ - python3-colcon-common-extensions \ - # Libraries needed for building - libpcl-dev \ - libgoogle-glog-dev \ - libgflags-dev \ - libatlas-base-dev \ - libeigen3-dev \ - libsuitesparse-dev \ - # ROS packages needed for build - ros-${ROS_DISTRO}-pcl-ros \ - ros-${ROS_DISTRO}-cv-bridge \ - && rm -rf /var/lib/apt/lists/* - -# On arm64, ros-base doesn't include rviz2 (unlike desktop-full on amd64) -# Install it separately for building rviz plugins -# Note: ARG must be re-declared after FROM; placed here to maximize layer caching above -ARG TARGETARCH -RUN if [ "${TARGETARCH}" = "arm64" ]; then \ - apt-get update && apt-get install -y --no-install-recommends \ - ros-${ROS_DISTRO}-rviz2 \ - && rm -rf /var/lib/apt/lists/*; \ - fi - -# On arm64, build open3d from source (no Linux aarch64 wheels on PyPI) -# Cached as a separate layer; the wheel is copied to the runtime stage -# mkdir runs unconditionally so COPY --from=builder works on all architectures -RUN mkdir -p /opt/open3d-wheel && \ - PYTHON_MINOR=$(python3 -c "import sys; print(sys.version_info.minor)") && \ - if [ "${TARGETARCH}" = "arm64" ] && [ "$PYTHON_MINOR" -ge 12 ]; then \ - echo "Building open3d from source for arm64 + Python 3.${PYTHON_MINOR} (no PyPI wheel)..." && \ - apt-get update && apt-get install -y --no-install-recommends \ - python3-dev \ - python3-pip \ - python3-setuptools \ - python3-wheel \ - libblas-dev \ - liblapack-dev \ - libgl1-mesa-dev \ - libglib2.0-dev \ - libxinerama-dev \ - libxcursor-dev \ - libxrandr-dev \ - libxi-dev \ - gfortran \ - && rm -rf /var/lib/apt/lists/* && \ - cd /tmp && \ - git clone --depth 1 --branch v0.19.0 https://github.com/isl-org/Open3D.git && \ - cd Open3D && \ - util/install_deps_ubuntu.sh assume-yes && \ - mkdir build && cd build && \ - cmake .. \ - -DCMAKE_BUILD_TYPE=Release \ - -DBUILD_CUDA_MODULE=OFF \ - -DBUILD_GUI=OFF \ - -DBUILD_TENSORFLOW_OPS=OFF \ - -DBUILD_PYTORCH_OPS=OFF \ - -DBUILD_UNIT_TESTS=OFF \ - -DBUILD_BENCHMARKS=OFF \ - -DBUILD_EXAMPLES=OFF \ - -DBUILD_WEBRTC=OFF && \ - make -j$(($(nproc) > 4 ? 4 : $(nproc))) && \ - make pip-package -j$(($(nproc) > 4 ? 4 : $(nproc))) && \ - mkdir -p /opt/open3d-wheel && \ - cp lib/python_package/pip_package/open3d*.whl /opt/open3d-wheel/ && \ - cd / && rm -rf /tmp/Open3D; \ - fi - -# On arm64, build or-tools from source (pre-built binaries are x86_64 only) -# This is cached as a separate layer since it takes significant time to build -ENV OR_TOOLS_VERSION=9.8 -RUN if [ "${TARGETARCH}" = "arm64" ]; then \ - echo "Building or-tools v${OR_TOOLS_VERSION} from source for arm64..." && \ - apt-get update && apt-get install -y --no-install-recommends \ - lsb-release \ - wget \ - && rm -rf /var/lib/apt/lists/* && \ - cd /tmp && \ - wget -q https://github.com/google/or-tools/archive/refs/tags/v${OR_TOOLS_VERSION}.tar.gz && \ - tar xzf v${OR_TOOLS_VERSION}.tar.gz && \ - cd or-tools-${OR_TOOLS_VERSION} && \ - cmake -S . -B build \ - -DCMAKE_BUILD_TYPE=Release \ - -DBUILD_DEPS=ON \ - -DBUILD_SAMPLES=OFF \ - -DBUILD_EXAMPLES=OFF \ - -DBUILD_FLATZINC=OFF \ - -DUSE_SCIP=OFF \ - -DUSE_COINOR=OFF && \ - cmake --build build --config Release -j$(($(nproc) > 4 ? 4 : $(nproc))) && \ - cmake --install build --prefix /opt/or-tools && \ - rm -rf /tmp/or-tools-${OR_TOOLS_VERSION} /tmp/v${OR_TOOLS_VERSION}.tar.gz; \ - fi - -# Create workspace -RUN mkdir -p ${WORKSPACE}/src - -# Copy autonomy stack source -COPY docker/navigation/ros-navigation-autonomy-stack ${WORKSPACE}/src/ros-navigation-autonomy-stack - -# On arm64, replace pre-built x86_64 or-tools with arm64 built version -RUN if [ "${TARGETARCH}" = "arm64" ] && [ -d "/opt/or-tools" ]; then \ - echo "Replacing x86_64 or-tools with arm64 build..." && \ - OR_TOOLS_DIR=${WORKSPACE}/src/ros-navigation-autonomy-stack/src/exploration_planner/tare_planner/or-tools && \ - rm -rf ${OR_TOOLS_DIR}/lib/*.so* ${OR_TOOLS_DIR}/lib/*.a && \ - cp -r /opt/or-tools/lib/* ${OR_TOOLS_DIR}/lib/ && \ - rm -rf ${OR_TOOLS_DIR}/include && \ - cp -r /opt/or-tools/include ${OR_TOOLS_DIR}/ && \ - ldconfig; \ - fi - -# Compatibility fix: In Humble, cv_bridge uses .h extension, but Jazzy uses .hpp -# Create a symlink so code written for Jazzy works on Humble -RUN if [ "${ROS_DISTRO}" = "humble" ]; then \ - CV_BRIDGE_DIR=$(find /opt/ros/humble/include -name "cv_bridge.h" -printf "%h\n" 2>/dev/null | head -1) && \ - if [ -n "$CV_BRIDGE_DIR" ]; then \ - ln -sf "$CV_BRIDGE_DIR/cv_bridge.h" "$CV_BRIDGE_DIR/cv_bridge.hpp"; \ - echo "Created cv_bridge.hpp symlink in $CV_BRIDGE_DIR"; \ - else \ - echo "Warning: cv_bridge.h not found, skipping symlink creation"; \ - fi; \ - fi - -# Build Livox-SDK2 -RUN cd ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/utilities/livox_ros_driver2/Livox-SDK2 && \ - mkdir -p build && cd build && \ - cmake .. && make -j$(nproc) && make install && ldconfig && \ - rm -rf ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/utilities/livox_ros_driver2/Livox-SDK2/build - -# Build Sophus -RUN cd ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/slam/dependency/Sophus && \ - mkdir -p build && cd build && \ - cmake .. -DBUILD_TESTS=OFF && make -j$(nproc) && make install && \ - rm -rf ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/slam/dependency/Sophus/build - -# Build Ceres Solver -RUN cd ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/slam/dependency/ceres-solver && \ - mkdir -p build && cd build && \ - cmake .. && make -j$(nproc) && make install && \ - rm -rf ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/slam/dependency/ceres-solver/build - -# Build GTSAM -RUN cd ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/slam/dependency/gtsam && \ - mkdir -p build && cd build && \ - cmake .. -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF && \ - make -j$(nproc) && make install && ldconfig && \ - rm -rf ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/slam/dependency/gtsam/build - -# Build ROS workspace with both SLAM systems (no --symlink-install for multi-stage build compatibility) -RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \ - cd ${WORKSPACE} && \ - echo 'Building with both arise_slam and FASTLIO2' && \ - colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release" - -ARG ROS_DISTRO -ARG TARGETARCH -FROM base-${TARGETARCH} AS runtime - -ARG ROS_DISTRO -ENV DEBIAN_FRONTEND=noninteractive -ENV ROS_DISTRO=${ROS_DISTRO} -ENV WORKSPACE=/ros2_ws -ENV DIMOS_PATH=/workspace/dimos -# LOCALIZATION_METHOD: arise_slam (default) or fastlio -ENV LOCALIZATION_METHOD=arise_slam - -# DDS Configuration - Use FastDDS (default ROS 2 middleware) -ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp -ENV FASTRTPS_DEFAULT_PROFILES_FILE=/ros2_ws/config/fastdds.xml - -# Install runtime dependencies only (no build tools) -RUN apt-get update && apt-get install -y --no-install-recommends \ - # ROS packages - ros-${ROS_DISTRO}-pcl-ros \ - ros-${ROS_DISTRO}-cv-bridge \ - ros-${ROS_DISTRO}-foxglove-bridge \ - ros-${ROS_DISTRO}-rviz2 \ - ros-${ROS_DISTRO}-rqt* \ - ros-${ROS_DISTRO}-joy \ - # DDS middleware (FastDDS is default, just ensure it's installed) - ros-${ROS_DISTRO}-rmw-fastrtps-cpp \ - # Runtime libraries - libpcl-dev \ - libgoogle-glog-dev \ - libgflags-dev \ - libatlas-base-dev \ - libeigen3-dev \ - libsuitesparse-dev \ - # X11 for GUI (minimal) - libx11-6 \ - libxext6 \ - libxrender1 \ - libgl1 \ - libglib2.0-0 \ - # Networking tools - iputils-ping \ - net-tools \ - iproute2 \ - # Serial/USB for hardware - usbutils \ - # Python (minimal) - python3-pip \ - python3-venv \ - # Joystick support - joystick \ - # Time sync for multi-computer setups - chrony \ - && rm -rf /var/lib/apt/lists/* - -# Copy installed libraries from builder -COPY --from=builder /usr/local/lib /usr/local/lib -COPY --from=builder /usr/local/include /usr/local/include - -RUN ldconfig - -# Copy built ROS workspace from builder -COPY --from=builder ${WORKSPACE}/install ${WORKSPACE}/install - -# Copy only config/rviz files from src (not the large dependency folders) -# These are needed if running without volume mount -COPY --from=builder ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/base_autonomy/vehicle_simulator/rviz ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/base_autonomy/vehicle_simulator/rviz -COPY --from=builder ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/route_planner/far_planner/rviz ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/route_planner/far_planner/rviz -COPY --from=builder ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/exploration_planner/tare_planner/rviz ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/exploration_planner/tare_planner/rviz -# Copy SLAM config files based on SLAM_TYPE -COPY --from=builder ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/utilities/livox_ros_driver2/config ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/utilities/livox_ros_driver2/config - -# Copy config files for both SLAM systems -RUN --mount=from=builder,source=${WORKSPACE}/src/ros-navigation-autonomy-stack/src,target=/tmp/src \ - echo "Copying arise_slam configs" && \ - mkdir -p ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/slam/arise_slam_mid360 && \ - cp -r /tmp/src/slam/arise_slam_mid360/config ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/slam/arise_slam_mid360/ 2>/dev/null || true && \ - echo "Copying FASTLIO2 configs" && \ - mkdir -p ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/slam/FASTLIO2_ROS2 && \ - for pkg in fastlio2 localizer pgo hba; do \ - if [ -d "/tmp/src/slam/FASTLIO2_ROS2/$pkg/config" ]; then \ - mkdir -p ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/slam/FASTLIO2_ROS2/$pkg && \ - cp -r /tmp/src/slam/FASTLIO2_ROS2/$pkg/config ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/slam/FASTLIO2_ROS2/$pkg/; \ - fi; \ - if [ -d "/tmp/src/slam/FASTLIO2_ROS2/$pkg/rviz" ]; then \ - cp -r /tmp/src/slam/FASTLIO2_ROS2/$pkg/rviz ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/slam/FASTLIO2_ROS2/$pkg/; \ - fi; \ - done - -# Copy simulation shell scripts (real robot mode uses volume mount) -COPY --from=builder ${WORKSPACE}/src/ros-navigation-autonomy-stack/system_simulation*.sh ${WORKSPACE}/src/ros-navigation-autonomy-stack/ - -# Create directories -RUN mkdir -p ${DIMOS_PATH} \ - ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/base_autonomy/vehicle_simulator/mesh/unity \ - ${WORKSPACE}/bagfiles \ - ${WORKSPACE}/logs \ - ${WORKSPACE}/config - -# Create FastDDS configuration file -RUN cat > ${WORKSPACE}/config/fastdds.xml <<'EOF' - - - - - - ros2_navigation_participant - - - SIMPLE - - 10 - 0 - - - 3 - 0 - - - - - 10485760 - 10485760 - true - - - - - - - udp_transport - UDPv4 - 10485760 - 10485760 - 65500 - - - - shm_transport - SHM - 10485760 - 1048576 - - - -EOF - -# Install portaudio for unitree-webrtc-connect (pyaudio dependency) -RUN apt-get update && apt-get install -y --no-install-recommends \ - portaudio19-dev \ - && rm -rf /var/lib/apt/lists/* - -# Create Python venv and install dependencies -RUN python3 -m venv /opt/dimos-venv && \ - /opt/dimos-venv/bin/pip install --no-cache-dir \ - pyyaml - -# On arm64, install open3d wheel built from source in the builder stage -COPY --from=builder /opt/open3d-wheel /opt/open3d-wheel -ARG TARGETARCH -RUN if [ "${TARGETARCH}" = "arm64" ] && ls /opt/open3d-wheel/open3d*.whl 1>/dev/null 2>&1; then \ - echo "Installing open3d from pre-built arm64 wheel..." && \ - /opt/dimos-venv/bin/pip install --no-cache-dir /opt/open3d-wheel/open3d*.whl && \ - rm -rf /opt/open3d-wheel; \ - fi - -# Copy dimos source and install as editable package -# The volume mount at runtime will overlay /workspace/dimos, but the editable -# install creates a link that will use the volume-mounted files -COPY pyproject.toml setup.py /workspace/dimos/ -COPY dimos /workspace/dimos/dimos -RUN /opt/dimos-venv/bin/pip install --no-cache-dir -e "/workspace/dimos[unitree]" - -# Set up shell environment -RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \ - echo "source ${WORKSPACE}/install/setup.bash" >> ~/.bashrc && \ - echo "source /opt/dimos-venv/bin/activate" >> ~/.bashrc && \ - echo "export RMW_IMPLEMENTATION=rmw_fastrtps_cpp" >> ~/.bashrc && \ - echo "export FASTRTPS_DEFAULT_PROFILES_FILE=/ros2_ws/config/fastdds.xml" >> ~/.bashrc - -# Copy helper scripts -COPY docker/navigation/run_both.sh /usr/local/bin/run_both.sh -COPY docker/navigation/ros_launch_wrapper.py /usr/local/bin/ros_launch_wrapper.py -COPY docker/navigation/foxglove_utility/twist_relay.py /usr/local/bin/twist_relay.py -COPY docker/navigation/foxglove_utility/goal_autonomy_relay.py /usr/local/bin/goal_autonomy_relay.py -RUN chmod +x /usr/local/bin/run_both.sh /usr/local/bin/ros_launch_wrapper.py /usr/local/bin/twist_relay.py /usr/local/bin/goal_autonomy_relay.py - -# Set up udev rules for motor controller -RUN mkdir -p /etc/udev/rules.d && \ - echo 'SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE="0666", GROUP="dialout"' \ - > /etc/udev/rules.d/99-motor-controller.rules - -# Set up entrypoint script -RUN echo '#!/bin/bash\n\ -set -e\n\ -\n\ -# Mark git directories as safe\n\ -git config --global --add safe.directory /workspace/dimos 2>/dev/null || true\n\ -git config --global --add safe.directory /ros2_ws/src/ros-navigation-autonomy-stack 2>/dev/null || true\n\ -\n\ -# Source ROS setup\n\ -source /opt/ros/${ROS_DISTRO}/setup.bash\n\ -source ${WORKSPACE}/install/setup.bash\n\ -\n\ -# Activate Python virtual environment\n\ -source /opt/dimos-venv/bin/activate\n\ -\n\ -# DDS Configuration (FastDDS)\n\ -export RMW_IMPLEMENTATION=rmw_fastrtps_cpp\n\ -export FASTRTPS_DEFAULT_PROFILES_FILE=/ros2_ws/config/fastdds.xml\n\ -\n\ -# Use custom DDS config if provided via mount\n\ -if [ -f "/ros2_ws/config/custom_fastdds.xml" ]; then\n\ - export FASTRTPS_DEFAULT_PROFILES_FILE=/ros2_ws/config/custom_fastdds.xml\n\ - echo "Using custom FastDDS configuration"\n\ -fi\n\ -\n\ -# Export ROBOT_CONFIG_PATH for autonomy stack\n\ -export ROBOT_CONFIG_PATH="${ROBOT_CONFIG_PATH:-mechanum_drive}"\n\ -\n\ -# Hardware-specific configurations\n\ -if [ "${HARDWARE_MODE}" = "true" ]; then\n\ - # Set network buffer sizes for WiFi data transmission\n\ - if [ "${ENABLE_WIFI_BUFFER}" = "true" ]; then\n\ - sysctl -w net.core.rmem_max=67108864 net.core.rmem_default=67108864 2>/dev/null || true\n\ - sysctl -w net.core.wmem_max=67108864 net.core.wmem_default=67108864 2>/dev/null || true\n\ - fi\n\ - \n\ - # Configure network interface for Mid-360 lidar if specified\n\ - if [ -n "${LIDAR_INTERFACE}" ] && [ -n "${LIDAR_COMPUTER_IP}" ]; then\n\ - ip addr add ${LIDAR_COMPUTER_IP}/24 dev ${LIDAR_INTERFACE} 2>/dev/null || true\n\ - ip link set ${LIDAR_INTERFACE} up 2>/dev/null || true\n\ - fi\n\ - \n\ - # Generate MID360_config.json if LIDAR_COMPUTER_IP and LIDAR_IP are set\n\ - if [ -n "${LIDAR_COMPUTER_IP}" ] && [ -n "${LIDAR_IP}" ]; then\n\ - cat > ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/utilities/livox_ros_driver2/config/MID360_config.json </dev/null || true\n\ - echo "Generated MID360_config.json with LIDAR_COMPUTER_IP=${LIDAR_COMPUTER_IP} and LIDAR_IP=${LIDAR_IP}"\n\ - fi\n\ - \n\ - # Display Robot IP configuration if set\n\ - if [ -n "${ROBOT_IP}" ]; then\n\ - echo "Robot IP configured on local network: ${ROBOT_IP}"\n\ - fi\n\ -fi\n\ -\n\ -# Execute the command\n\ -exec "$@"' > /ros_entrypoint.sh && \ - chmod +x /ros_entrypoint.sh - -# Working directory -WORKDIR ${DIMOS_PATH} - -# Set the entrypoint -ENTRYPOINT ["/ros_entrypoint.sh"] - -# Default command -CMD ["bash"] diff --git a/docker/navigation/README.md b/docker/navigation/README.md deleted file mode 100644 index 32483b6512..0000000000 --- a/docker/navigation/README.md +++ /dev/null @@ -1,184 +0,0 @@ -# ROS Docker Integration for DimOS - -This directory contains Docker configuration files to run DimOS and the ROS autonomy stack in the same container, enabling communication between the two systems. - -## Prerequisites - -1. **Install Docker with `docker compose` support**. Follow the [official Docker installation guide](https://docs.docker.com/engine/install/). -2. **Install NVIDIA GPU drivers**. See [NVIDIA driver installation](https://www.nvidia.com/download/index.aspx). -3. **Install NVIDIA Container Toolkit**. Follow the [installation guide](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html). - -## Automated Quick Start - -This is an optimistic overview. Use the commands below for an in depth version. - -**Build the Docker image:** - -```bash -cd docker/navigation -./build.sh --humble # Build for ROS 2 Humble -./build.sh --jazzy # Build for ROS 2 Jazzy -``` - -This will: -- Clone the ros-navigation-autonomy-stack repository -- Build a Docker image with both arise_slam and FASTLIO2 -- Set up the environment for both ROS and DimOS - -The resulting image will be named `dimos_autonomy_stack:{distro}` (e.g., `humble`, `jazzy`). -Select SLAM method at runtime via `--localization arise_slam` or `--localization fastlio`. - -Note that the build will take a while and produce an image of approximately 24 GB. - -**Run the simulator to test it's working:** - -Use the same ROS distribution flag as your build: - -```bash -./start.sh --simulation --image humble # If built with --humble -# or -./start.sh --simulation --image jazzy # If built with --jazzy -``` - -
-

Manual build

 - -Go to the docker dir and clone the ROS navigation stack (choose the branch matching your ROS distribution). - -```bash -cd docker/navigation -git clone -b humble git@github.com:dimensionalOS/ros-navigation-autonomy-stack.git -# or -git clone -b jazzy git@github.com:dimensionalOS/ros-navigation-autonomy-stack.git -``` - -Download a [Unity environment model for the Mecanum wheel platform](https://drive.google.com/drive/folders/1G1JYkccvoSlxyySuTlPfvmrWoJUO8oSs?usp=sharing) and unzip the files to `unity_models`. - -Alternativelly, extract `office_building_1` from LFS: - -```bash -tar -xf ../../data/.lfs/office_building_1.tar.gz -mv office_building_1 unity_models -``` - -Then, go back to the root (from docker/navigation) and build the docker image: - -```bash -cd ../.. # Back to dimos root -ROS_DISTRO=humble docker compose -f docker/navigation/docker-compose.yml build -# or -ROS_DISTRO=jazzy docker compose -f docker/navigation/docker-compose.yml build -``` - -
- -## On Real Hardware - -### Configure the WiFi - -[Read this](https://github.com/dimensionalOS/ros-navigation-autonomy-stack/tree/jazzy?tab=readme-ov-file#transmitting-data-over-wifi) to see how to configure the WiFi. - -### Configure the Livox Lidar - -The MID360_config.json file is automatically generated on container startup based on your environment variables (LIDAR_COMPUTER_IP and LIDAR_IP). - -### Copy Environment Template -```bash -cp .env.hardware .env -``` - -### Edit `.env` File - -Key configuration parameters: - -```bash -# Robot Configuration -ROBOT_CONFIG_PATH=unitree/unitree_go2 # Robot type (mechanum_drive, unitree/unitree_go2, unitree/unitree_g1) - -# Lidar Configuration -LIDAR_INTERFACE=eth0 # Your ethernet interface (find with: ip link show) -LIDAR_COMPUTER_IP=192.168.1.5 # Computer IP on the lidar subnet -LIDAR_GATEWAY=192.168.1.1 # Gateway IP address for the lidar subnet -LIDAR_IP=192.168.1.1xx # xx = last two digits from lidar QR code serial number -ROBOT_IP= # IP addres of robot on local network (if using WebRTC connection) - -# Special Configuration for Unitree G1 EDU -# Special Configuration for Unitree G1 EDU -LIDAR_COMPUTER_IP=192.168.123.5 -LIDAR_GATEWAY=192.168.123.1 -LIDAR_IP=192.168.123.120 -ROBOT_IP=192.168.12.1 # For WebRTC local AP mode (optional, need additional wifi dongle) -``` - -### Start the Navigation Stack - -#### Start with Route Planner automatically - -```bash -# arise_slam (default) -./start.sh --hardware --route-planner -./start.sh --hardware --route-planner --rviz - -# FASTLIO2 -./start.sh --hardware --localization fastlio --route-planner -./start.sh --hardware --localization fastlio --route-planner --rviz - -# Jazzy image -./start.sh --hardware --image jazzy --route-planner - -# Development mode (mount src for config editing) -./start.sh --hardware --dev -``` - -[Foxglove Studio](https://foxglove.dev/download) is the default visualization tool. It's ideal for remote operation - SSH with port forwarding to the robot's mini PC and run commands there: - -```bash -ssh -L 8765:localhost:8765 user@robot-ip -``` - -Then on your local machine: -1. Open Foxglove and connect to `ws://localhost:8765` -2. Load the layout from `dimos/assets/foxglove_dashboards/Overwatch.json` (Layout menu → Import) -3. Click in the 3D panel to drop a target pose (similar to RViz). The "Autonomy ON" indicator should be green, and "Goal Reached" will show when the robot arrives. - -
-

Start manually

 - -Start the container and leave it open. Use the same ROS distribution flag as your build: - -```bash -./start.sh --hardware --image humble # If built with --humble -# or -./start.sh --hardware --image jazzy # If built with --jazzy -``` - -It doesn't do anything by default. You have to run commands on it by `exec`-ing: - -To enter the container from another terminal: - -```bash -docker exec -it dimos_hardware_container bash -``` - -##### In the container - -In the container to run the full navigation stack you must run both the dimensional python runfile with connection module and the navigation stack. - -###### Dimensional Python + Connection Module - -For the Unitree G1 -```bash -dimos run unitree-g1 -ROBOT_IP=XX.X.X.XXX dimos run unitree-g1 # If ROBOT_IP env variable is not set in .env -``` - -###### Navigation Stack - -```bash -cd /ros2_ws/src/ros-navigation-autonomy-stack -./system_real_robot_with_route_planner.sh -``` - -Now you can place goal points/poses in RVIZ by clicking the "Goalpoint" button. The robot will navigate to the point, running both local and global planners for dynamic obstacle avoidance. - -
diff --git a/docker/navigation/build.sh b/docker/navigation/build.sh deleted file mode 100755 index 371db08b49..0000000000 --- a/docker/navigation/build.sh +++ /dev/null @@ -1,140 +0,0 @@ -#!/bin/bash - -set -e - -GREEN='\033[0;32m' -YELLOW='\033[1;33m' -RED='\033[0;31m' -NC='\033[0m' - -# Default ROS distribution -ROS_DISTRO="humble" - -# Parse command line arguments -while [[ $# -gt 0 ]]; do - case $1 in - --humble) - ROS_DISTRO="humble" - shift - ;; - --jazzy) - ROS_DISTRO="jazzy" - shift - ;; - --help|-h) - echo "Usage: $0 [OPTIONS]" - echo "" - echo "Options:" - echo " --humble Build with ROS 2 Humble (default)" - echo " --jazzy Build with ROS 2 Jazzy" - echo " --help, -h Show this help message" - echo "" - echo "The image includes both arise_slam and FASTLIO2." - echo "Select SLAM method at runtime via LOCALIZATION_METHOD env var." - echo "" - echo "Examples:" - echo " $0 # Build with ROS Humble" - echo " $0 --jazzy # Build with ROS Jazzy" - exit 0 - ;; - *) - echo -e "${RED}Unknown option: $1${NC}" - echo "Run '$0 --help' for usage information" - exit 1 - ;; - esac -done - -export ROS_DISTRO -export IMAGE_TAG="${ROS_DISTRO}" - -echo -e "${GREEN}================================================${NC}" -echo -e "${GREEN}Building DimOS + ROS Autonomy Stack Docker Image${NC}" -echo -e "${GREEN}ROS Distribution: ${ROS_DISTRO}${NC}" -echo -e "${GREEN}Image Tag: ${IMAGE_TAG}${NC}" -echo -e "${GREEN}SLAM: arise_slam + FASTLIO2 (both included)${NC}" -echo -e "${GREEN}================================================${NC}" -echo "" - -SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" -cd "$SCRIPT_DIR" - -# Use fastlio2 branch which has both arise_slam and FASTLIO2 -TARGET_BRANCH="fastlio2" -TARGET_REMOTE="origin" -CLONE_URL="https://github.com/dimensionalOS/ros-navigation-autonomy-stack.git" - -# Clone or checkout ros-navigation-autonomy-stack -if [ ! -d "ros-navigation-autonomy-stack" ]; then - echo -e "${YELLOW}Cloning ros-navigation-autonomy-stack repository (${TARGET_BRANCH} branch)...${NC}" - git clone -b ${TARGET_BRANCH} ${CLONE_URL} ros-navigation-autonomy-stack - echo -e "${GREEN}Repository cloned successfully!${NC}" -else - # Directory exists, ensure we're on the correct branch - cd ros-navigation-autonomy-stack - - CURRENT_BRANCH=$(git branch --show-current) - if [ "$CURRENT_BRANCH" != "${TARGET_BRANCH}" ]; then - echo -e "${YELLOW}Switching from ${CURRENT_BRANCH} to ${TARGET_BRANCH} branch...${NC}" - # Stash any local changes (e.g., auto-generated config files) - if git stash --quiet 2>/dev/null; then - echo -e "${YELLOW}Stashed local changes${NC}" - fi - git fetch ${TARGET_REMOTE} ${TARGET_BRANCH} - git checkout -B ${TARGET_BRANCH} ${TARGET_REMOTE}/${TARGET_BRANCH} - echo -e "${GREEN}Switched to ${TARGET_BRANCH} branch${NC}" - else - echo -e "${GREEN}Already on ${TARGET_BRANCH} branch${NC}" - # Check for local changes before pulling latest - if ! git diff --quiet || ! git diff --cached --quiet; then - echo -e "${RED}Local changes detected in ros-navigation-autonomy-stack.${NC}" - echo -e "${RED}Please commit or discard them before building.${NC}" - git status --short - exit 1 - fi - git fetch ${TARGET_REMOTE} ${TARGET_BRANCH} - git reset --hard ${TARGET_REMOTE}/${TARGET_BRANCH} - fi - cd .. -fi - -if [ ! -d "unity_models" ]; then - echo -e "${YELLOW}Using office_building_1 as the Unity environment...${NC}" - tar -xf ../../data/.lfs/office_building_1.tar.gz - mv office_building_1 unity_models -fi - -echo "" -echo -e "${YELLOW}Building Docker image with docker compose...${NC}" -echo "This will take a while as it needs to:" -echo " - Download base ROS ${ROS_DISTRO^} image" -echo " - Install ROS packages and dependencies" -echo " - Build the autonomy stack (arise_slam + FASTLIO2)" -echo " - Build Livox-SDK2 for Mid-360 lidar" -echo " - Build SLAM dependencies (Sophus, Ceres, GTSAM)" -echo " - Install Python dependencies for DimOS" -echo "" - -cd ../.. - -docker compose -f docker/navigation/docker-compose.yml build - -echo "" -echo -e "${GREEN}============================================${NC}" -echo -e "${GREEN}Docker image built successfully!${NC}" -echo -e "${GREEN}Image: dimos_autonomy_stack:${IMAGE_TAG}${NC}" -echo -e "${GREEN}SLAM: arise_slam + FASTLIO2 (both included)${NC}" -echo -e "${GREEN}============================================${NC}" -echo "" -echo "To run in SIMULATION mode:" -echo -e "${YELLOW} ./start.sh --simulation --${ROS_DISTRO}${NC}" -echo "" -echo "To run in HARDWARE mode:" -echo " 1. Configure your hardware settings in .env file" -echo " (copy from .env.hardware if needed)" -echo " 2. Run the hardware container:" -echo -e "${YELLOW} ./start.sh --hardware --${ROS_DISTRO}${NC}" -echo "" -echo "To use FASTLIO2 instead of arise_slam, set LOCALIZATION_METHOD:" -echo -e "${YELLOW} LOCALIZATION_METHOD=fastlio ./start.sh --hardware --${ROS_DISTRO}${NC}" -echo "" diff --git a/docker/navigation/docker-compose.dev.yml b/docker/navigation/docker-compose.dev.yml deleted file mode 100644 index 537e00581d..0000000000 --- a/docker/navigation/docker-compose.dev.yml +++ /dev/null @@ -1,16 +0,0 @@ -# Usage: docker compose -f docker-compose.yml -f docker-compose.dev.yml up -# This file adds development-specific volume mounts for editing ROS configs -# without rebuilding the image. - -services: - dimos_simulation: - volumes: - # Mount ROS navigation stack source for config editing - - ./ros-navigation-autonomy-stack/src/slam/arise_slam_mid360/config:/ros2_ws/src/ros-navigation-autonomy-stack/src/slam/arise_slam_mid360/config:rw - - ./ros-navigation-autonomy-stack/src/base_autonomy/local_planner/config:/ros2_ws/src/ros-navigation-autonomy-stack/src/base_autonomy/local_planner/config:rw - - dimos_hardware: - volumes: - # Mount ROS navigation stack source for config editing - - ./ros-navigation-autonomy-stack/src/slam/arise_slam_mid360/config:/ros2_ws/src/ros-navigation-autonomy-stack/src/slam/arise_slam_mid360/config:rw - - ./ros-navigation-autonomy-stack/src/base_autonomy/local_planner/config:/ros2_ws/src/ros-navigation-autonomy-stack/src/base_autonomy/local_planner/config:rw diff --git a/docker/navigation/docker-compose.yml b/docker/navigation/docker-compose.yml deleted file mode 100644 index 6546968757..0000000000 --- a/docker/navigation/docker-compose.yml +++ /dev/null @@ -1,353 +0,0 @@ -services: - # Simulation profile - dimos_simulation: - build: - context: ../.. - dockerfile: docker/navigation/Dockerfile - network: host - args: - ROS_DISTRO: ${ROS_DISTRO:-humble} - image: dimos_autonomy_stack:${IMAGE_TAG:-humble} - container_name: dimos_simulation_container - profiles: ["", "simulation"] # Active by default (empty profile) AND with --profile simulation - - # Shared memory size for ROS 2 FastDDS - shm_size: '8gb' - - # Enable interactive terminal - stdin_open: true - tty: true - - # Network configuration - required for ROS communication - network_mode: host - - # Allow `ip link set ...` (needed by DimOS LCM autoconf) without requiring sudo - cap_add: - - NET_ADMIN - - # Use nvidia runtime for GPU acceleration (falls back to runc if not available) - runtime: ${DOCKER_RUNTIME:-nvidia} - - # Environment variables for display and ROS - environment: - - DISPLAY=${DISPLAY} - - QT_X11_NO_MITSHM=1 - - NVIDIA_VISIBLE_DEVICES=${NVIDIA_VISIBLE_DEVICES:-all} - - NVIDIA_DRIVER_CAPABILITIES=${NVIDIA_DRIVER_CAPABILITIES:-all} - - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-42} - - ROBOT_CONFIG_PATH=${ROBOT_CONFIG_PATH:-mechanum_drive} - - ROBOT_IP=${ROBOT_IP:-} - - HARDWARE_MODE=false - # DDS Configuration (FastDDS) - - RMW_IMPLEMENTATION=rmw_fastrtps_cpp - - FASTRTPS_DEFAULT_PROFILES_FILE=/ros2_ws/config/fastdds.xml - # Localization method: arise_slam (default) or fastlio - - LOCALIZATION_METHOD=${LOCALIZATION_METHOD:-arise_slam} - - # Volume mounts - volumes: - # X11 socket for GUI - - /tmp/.X11-unix:/tmp/.X11-unix:rw - - ${HOME}/.Xauthority:/root/.Xauthority:rw - - # Mount Unity environment models (if available) - - ./unity_models:/ros2_ws/src/ros-navigation-autonomy-stack/src/base_autonomy/vehicle_simulator/mesh/unity:rw - - # Mount entire dimos directory for live development - - ../..:/workspace/dimos:rw - - # Mount bagfiles directory - - ./bagfiles:/ros2_ws/bagfiles:rw - - # Mount config files for easy editing - - ./config:/ros2_ws/config:rw - - # Device access (for joystick controllers) - devices: - - /dev/input:/dev/input - - /dev/dri:/dev/dri - - # Working directory - working_dir: /workspace/dimos - - # Command to run both ROS and DimOS - command: /usr/local/bin/run_both.sh - - # Hardware profile - for real robot - dimos_hardware: - build: - context: ../.. - dockerfile: docker/navigation/Dockerfile - network: host - args: - ROS_DISTRO: ${ROS_DISTRO:-humble} - image: dimos_autonomy_stack:${IMAGE_TAG:-humble} - container_name: dimos_hardware_container - profiles: ["hardware"] - - # Shared memory size for ROS 2 FastDDS - shm_size: '8gb' - - # Load environment from .env file - env_file: - - .env - - # Enable interactive terminal - stdin_open: true - tty: true - - # Network configuration - MUST be host for hardware access - network_mode: host - - # Privileged mode REQUIRED for hardware access - privileged: true - - # Override runtime for GPU support - runtime: ${DOCKER_RUNTIME:-runc} - - # Add host groups for device access (input for joystick, dialout for serial) - group_add: - - ${INPUT_GID:-995} - - ${DIALOUT_GID:-20} - - # Hardware environment variables - environment: - - DISPLAY=${DISPLAY:-:0} - - QT_X11_NO_MITSHM=1 - - NVIDIA_VISIBLE_DEVICES=all - - NVIDIA_DRIVER_CAPABILITIES=all - - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-42} - - ROBOT_CONFIG_PATH=${ROBOT_CONFIG_PATH:-mechanum_drive} - - ROBOT_IP=${ROBOT_IP:-} - - HARDWARE_MODE=true - # DDS Configuration (FastDDS) - - RMW_IMPLEMENTATION=rmw_fastrtps_cpp - - FASTRTPS_DEFAULT_PROFILES_FILE=/ros2_ws/config/fastdds.xml - # Localization method: arise_slam (default) or fastlio - - LOCALIZATION_METHOD=${LOCALIZATION_METHOD:-arise_slam} - # Mid-360 Lidar configuration - - LIDAR_INTERFACE=${LIDAR_INTERFACE:-} - - LIDAR_COMPUTER_IP=${LIDAR_COMPUTER_IP:-192.168.1.5} - - LIDAR_GATEWAY=${LIDAR_GATEWAY:-192.168.1.1} - - LIDAR_IP=${LIDAR_IP:-192.168.1.116} - # Motor controller - - MOTOR_SERIAL_DEVICE=${MOTOR_SERIAL_DEVICE:-/dev/ttyACM0} - # Network optimization - - ENABLE_WIFI_BUFFER=true - # Route planner option - - USE_ROUTE_PLANNER=${USE_ROUTE_PLANNER:-false} - # RViz option - - USE_RVIZ=${USE_RVIZ:-false} - # Unitree robot configuration - - UNITREE_IP=${UNITREE_IP:-192.168.12.1} - - UNITREE_CONN=${UNITREE_CONN:-LocalAP} - # Map path for localization mode (e.g., /ros2_ws/maps/warehouse) - - MAP_PATH=${MAP_PATH:-} - - # Volume mounts - volumes: - # X11 socket for GUI - - /tmp/.X11-unix:/tmp/.X11-unix:rw - - ${HOME}/.Xauthority:/root/.Xauthority:rw - # Mount Unity environment models (optional for hardware) - - ./unity_models:/ros2_ws/src/ros-navigation-autonomy-stack/src/base_autonomy/vehicle_simulator/mesh/unity:rw - # Mount entire dimos directory - - ../..:/workspace/dimos:rw - # Mount bagfiles directory - - ./bagfiles:/ros2_ws/bagfiles:rw - # Mount config files for easy editing - - ./config:/ros2_ws/config:rw - # Mount maps directory for localization - - ./maps:/ros2_ws/maps:rw - # Hardware-specific volumes - - ./logs:/ros2_ws/logs:rw - - /etc/localtime:/etc/localtime:ro - - /etc/timezone:/etc/timezone:ro - - /dev/bus/usb:/dev/bus/usb:rw - - /sys:/sys:ro - - # Device access for hardware - devices: - # Joystick controller (specific device to avoid permission issues) - - /dev/input/js0:/dev/input/js0 - # GPU access - - /dev/dri:/dev/dri - # Motor controller serial ports - - ${MOTOR_SERIAL_DEVICE:-/dev/ttyACM0}:${MOTOR_SERIAL_DEVICE:-/dev/ttyACM0} - # Additional serial ports (can be enabled via environment) - # - /dev/ttyUSB0:/dev/ttyUSB0 - # - /dev/ttyUSB1:/dev/ttyUSB1 - # Cameras (can be enabled via environment) - # - /dev/video0:/dev/video0 - - # Working directory - working_dir: /workspace/dimos - - # Command - launch the real robot system with foxglove_bridge - command: - - bash - - -c - - | - echo "Checking joystick..." - ls -la /dev/input/js0 2>/dev/null || echo "Warning: No joystick found at /dev/input/js0" - cd /ros2_ws - source install/setup.bash - source /opt/dimos-venv/bin/activate - # Launch with SLAM method based on LOCALIZATION_METHOD - if [ "$LOCALIZATION_METHOD" = "fastlio" ]; then - echo "Using FASTLIO2 localization" - if [ "$USE_ROUTE_PLANNER" = "true" ]; then - echo "Starting real robot system WITH route planner..." - ros2 launch vehicle_simulator system_real_robot_with_route_planner.launch.py use_fastlio2:=true & - else - echo "Starting real robot system (base autonomy)..." - ros2 launch vehicle_simulator system_real_robot.launch.py use_fastlio2:=true & - fi - else - echo "Using arise_slam localization" - if [ "$USE_ROUTE_PLANNER" = "true" ]; then - echo "Starting real robot system WITH route planner..." - ros2 launch vehicle_simulator system_real_robot_with_route_planner.launch.py & - else - echo "Starting real robot system (base autonomy)..." - ros2 launch vehicle_simulator system_real_robot.launch.py & - fi - fi - sleep 2 - if [ "$USE_RVIZ" = "true" ]; then - echo "Starting RViz2..." - if [ "$USE_ROUTE_PLANNER" = "true" ]; then - ros2 run rviz2 rviz2 -d /ros2_ws/src/ros-navigation-autonomy-stack/src/route_planner/far_planner/rviz/default.rviz & - else - ros2 run rviz2 rviz2 -d /ros2_ws/src/ros-navigation-autonomy-stack/src/base_autonomy/vehicle_simulator/rviz/vehicle_simulator.rviz & - fi - fi - # Launch Unitree control if ROBOT_CONFIG_PATH contains "unitree" - if [[ "$ROBOT_CONFIG_PATH" == *"unitree"* ]]; then - echo "Starting Unitree WebRTC control (IP: $UNITREE_IP, Method: $UNITREE_CONN)..." - ros2 launch unitree_webrtc_ros unitree_control.launch.py robot_ip:=$UNITREE_IP connection_method:=$UNITREE_CONN & - fi - # Start twist relay for Foxglove Teleop (converts Twist -> TwistStamped) - echo "Starting Twist relay for Foxglove Teleop..." - python3 /usr/local/bin/twist_relay.py & - # Start goal autonomy relay (publishes Joy to enable autonomy when goal_pose received) - echo "Starting Goal Autonomy relay for Foxglove..." - python3 /usr/local/bin/goal_autonomy_relay.py & - echo "Starting Foxglove Bridge on port 8765..." - echo "Connect via Foxglove Studio: ws://$(hostname -I | awk '{print $1}'):8765" - ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765 - - # Capabilities for hardware operations - cap_add: - - NET_ADMIN # Network interface configuration - - SYS_ADMIN # System operations - - SYS_TIME # Time synchronization - - # Bagfile profile - for bagfile playback with use_sim_time=true - dimos_bagfile: - build: - context: ../.. - dockerfile: docker/navigation/Dockerfile - network: host - args: - ROS_DISTRO: ${ROS_DISTRO:-humble} - image: dimos_autonomy_stack:${IMAGE_TAG:-humble} - container_name: dimos_bagfile_container - profiles: ["bagfile"] - - # Shared memory size for ROS 2 FastDDS - shm_size: '8gb' - - # Enable interactive terminal - stdin_open: true - tty: true - - # Network configuration - network_mode: host - - # Use nvidia runtime for GPU acceleration (falls back to runc if not available) - runtime: ${DOCKER_RUNTIME:-nvidia} - - # Environment variables - environment: - - DISPLAY=${DISPLAY} - - QT_X11_NO_MITSHM=1 - - NVIDIA_VISIBLE_DEVICES=${NVIDIA_VISIBLE_DEVICES:-all} - - NVIDIA_DRIVER_CAPABILITIES=${NVIDIA_DRIVER_CAPABILITIES:-all} - - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-42} - # DDS Configuration (FastDDS) - - RMW_IMPLEMENTATION=rmw_fastrtps_cpp - - FASTRTPS_DEFAULT_PROFILES_FILE=/ros2_ws/config/fastdds.xml - # Localization method: arise_slam (default) or fastlio - - LOCALIZATION_METHOD=${LOCALIZATION_METHOD:-arise_slam} - # Route planner option - - USE_ROUTE_PLANNER=${USE_ROUTE_PLANNER:-false} - # RViz option - - USE_RVIZ=${USE_RVIZ:-false} - # Map path for localization mode (e.g., /ros2_ws/maps/warehouse) - - MAP_PATH=${MAP_PATH:-} - - # Volume mounts - volumes: - # X11 socket for GUI - - /tmp/.X11-unix:/tmp/.X11-unix:rw - - ${HOME}/.Xauthority:/root/.Xauthority:rw - # Mount bagfiles directory - - ./bagfiles:/ros2_ws/bagfiles:rw - # Mount config files for easy editing - - ./config:/ros2_ws/config:rw - # Mount maps directory for localization - - ./maps:/ros2_ws/maps:rw - - # Device access (for joystick controllers) - devices: - - /dev/input:/dev/input - - /dev/dri:/dev/dri - - # Working directory - working_dir: /ros2_ws - - # Command - launch bagfile system (use_sim_time=true by default in launch files) - command: - - bash - - -c - - | - source install/setup.bash - echo "Bagfile playback mode (use_sim_time=true)" - echo "" - echo "Launch files ready. Play your bagfile with:" - echo " ros2 bag play --clock /ros2_ws/bagfiles/" - echo "" - # Launch with SLAM method based on LOCALIZATION_METHOD - if [ "$LOCALIZATION_METHOD" = "fastlio" ]; then - echo "Using FASTLIO2 localization" - if [ "$USE_ROUTE_PLANNER" = "true" ]; then - echo "Starting bagfile system WITH route planner..." - ros2 launch vehicle_simulator system_bagfile_with_route_planner.launch.py use_fastlio2:=true & - else - echo "Starting bagfile system (base autonomy)..." - ros2 launch vehicle_simulator system_bagfile.launch.py use_fastlio2:=true & - fi - else - echo "Using arise_slam localization" - if [ "$USE_ROUTE_PLANNER" = "true" ]; then - echo "Starting bagfile system WITH route planner..." - ros2 launch vehicle_simulator system_bagfile_with_route_planner.launch.py & - else - echo "Starting bagfile system (base autonomy)..." - ros2 launch vehicle_simulator system_bagfile.launch.py & - fi - fi - sleep 2 - if [ "$USE_RVIZ" = "true" ]; then - echo "Starting RViz2..." - if [ "$USE_ROUTE_PLANNER" = "true" ]; then - ros2 run rviz2 rviz2 -d /ros2_ws/src/ros-navigation-autonomy-stack/src/route_planner/far_planner/rviz/default.rviz & - else - ros2 run rviz2 rviz2 -d /ros2_ws/src/ros-navigation-autonomy-stack/src/base_autonomy/vehicle_simulator/rviz/vehicle_simulator.rviz & - fi - fi - # Keep container running - echo "" - echo "Container ready. Waiting for bagfile playback..." - wait diff --git a/docker/navigation/foxglove_utility/goal_autonomy_relay.py b/docker/navigation/foxglove_utility/goal_autonomy_relay.py deleted file mode 100755 index 44ed59008c..0000000000 --- a/docker/navigation/foxglove_utility/goal_autonomy_relay.py +++ /dev/null @@ -1,98 +0,0 @@ -#!/usr/bin/env python3 -# 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. - -""" -Relay node that publishes Joy message to enable autonomy mode when goal_pose is received. -Mimics the behavior of the goalpoint_rviz_plugin for Foxglove compatibility. -""" - -from geometry_msgs.msg import PointStamped, PoseStamped -import rclpy -from rclpy.node import Node -from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile, ReliabilityPolicy -from sensor_msgs.msg import Joy - - -class GoalAutonomyRelay(Node): - def __init__(self): - super().__init__("goal_autonomy_relay") - - # QoS for goal topics (match foxglove_bridge) - goal_qos = QoSProfile( - reliability=ReliabilityPolicy.RELIABLE, - history=HistoryPolicy.KEEP_LAST, - durability=DurabilityPolicy.VOLATILE, - depth=5, - ) - - # Subscribe to goal_pose (PoseStamped from Foxglove) - self.pose_sub = self.create_subscription( - PoseStamped, "/goal_pose", self.goal_pose_callback, goal_qos - ) - - # Subscribe to way_point (PointStamped from Foxglove) - self.point_sub = self.create_subscription( - PointStamped, "/way_point", self.way_point_callback, goal_qos - ) - - # Publisher for Joy message to enable autonomy - self.joy_pub = self.create_publisher(Joy, "/joy", 5) - - self.get_logger().info( - "Goal autonomy relay started - will publish Joy to enable autonomy when goals are received" - ) - - def publish_autonomy_joy(self): - """Publish Joy message that enables autonomy mode (mimics goalpoint_rviz_plugin)""" - joy = Joy() - joy.header.stamp = self.get_clock().now().to_msg() - joy.header.frame_id = "goal_autonomy_relay" - - # axes[2] = -1.0 enables autonomy mode in pathFollower - # axes[4] = 1.0 sets forward speed - # axes[5] = 1.0 enables obstacle checking - joy.axes = [0.0, 0.0, -1.0, 0.0, 1.0, 1.0, 0.0, 0.0] - - # buttons[7] = 1 (same as RViz plugin) - joy.buttons = [0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0] - - self.joy_pub.publish(joy) - self.get_logger().info("Published Joy message to enable autonomy mode") - - def goal_pose_callback(self, msg: PoseStamped): - self.get_logger().info( - f"Received goal_pose at ({msg.pose.position.x:.2f}, {msg.pose.position.y:.2f})" - ) - self.publish_autonomy_joy() - - def way_point_callback(self, msg: PointStamped): - self.get_logger().info(f"Received way_point at ({msg.point.x:.2f}, {msg.point.y:.2f})") - self.publish_autonomy_joy() - - -def main(args=None): - rclpy.init(args=args) - node = GoalAutonomyRelay() - try: - rclpy.spin(node) - except KeyboardInterrupt: - pass - finally: - node.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - main() diff --git a/docker/navigation/foxglove_utility/twist_relay.py b/docker/navigation/foxglove_utility/twist_relay.py deleted file mode 100644 index 6e72d5104b..0000000000 --- a/docker/navigation/foxglove_utility/twist_relay.py +++ /dev/null @@ -1,76 +0,0 @@ -#!/usr/bin/env python3 -# 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. - -""" -Simple relay node that converts geometry_msgs/Twist to geometry_msgs/TwistStamped. -Used for Foxglove Teleop panel which only publishes Twist. -""" - -from geometry_msgs.msg import Twist, TwistStamped -import rclpy -from rclpy.node import Node -from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy - - -class TwistRelay(Node): - def __init__(self): - super().__init__("twist_relay") - - # Declare parameters - self.declare_parameter("input_topic", "/foxglove_teleop") - self.declare_parameter("output_topic", "/cmd_vel") - self.declare_parameter("frame_id", "vehicle") - - input_topic = self.get_parameter("input_topic").value - output_topic = self.get_parameter("output_topic").value - self.frame_id = self.get_parameter("frame_id").value - - # QoS for real-time control - qos = QoSProfile( - reliability=ReliabilityPolicy.BEST_EFFORT, history=HistoryPolicy.KEEP_LAST, depth=1 - ) - - # Subscribe to Twist (from Foxglove Teleop) - self.subscription = self.create_subscription(Twist, input_topic, self.twist_callback, qos) - - # Publish TwistStamped - self.publisher = self.create_publisher(TwistStamped, output_topic, qos) - - self.get_logger().info( - f"Twist relay: {input_topic} (Twist) -> {output_topic} (TwistStamped)" - ) - - def twist_callback(self, msg: Twist): - stamped = TwistStamped() - stamped.header.stamp = self.get_clock().now().to_msg() - stamped.header.frame_id = self.frame_id - stamped.twist = msg - self.publisher.publish(stamped) - - -def main(args=None): - rclpy.init(args=args) - node = TwistRelay() - try: - rclpy.spin(node) - except KeyboardInterrupt: - pass - finally: - node.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - main() diff --git a/docker/navigation/ros_launch_wrapper.py b/docker/navigation/ros_launch_wrapper.py deleted file mode 100755 index dc28eabe72..0000000000 --- a/docker/navigation/ros_launch_wrapper.py +++ /dev/null @@ -1,195 +0,0 @@ -#!/usr/bin/env python3 -# Copyright 2025-2026 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. - -""" -Wrapper script to properly handle ROS2 launch file shutdown. -This script ensures clean shutdown of all ROS nodes when receiving SIGINT. -""" - -import os -import signal -import subprocess -import sys -import time - - -class ROSLaunchWrapper: - def __init__(self): - self.ros_process = None - self.dimos_process = None - self.shutdown_in_progress = False - - def signal_handler(self, _signum, _frame): - """Handle shutdown signals gracefully""" - if self.shutdown_in_progress: - return - - self.shutdown_in_progress = True - print("\n\nShutdown signal received. Stopping services gracefully...") - - # Stop DimOS first - if self.dimos_process and self.dimos_process.poll() is None: - print("Stopping DimOS...") - self.dimos_process.terminate() - try: - self.dimos_process.wait(timeout=5) - print("DimOS stopped cleanly.") - except subprocess.TimeoutExpired: - print("Force stopping DimOS...") - self.dimos_process.kill() - self.dimos_process.wait() - - # Stop ROS - send SIGINT first for graceful shutdown - if self.ros_process and self.ros_process.poll() is None: - print("Stopping ROS nodes (this may take a moment)...") - - # Send SIGINT to trigger graceful ROS shutdown - self.ros_process.send_signal(signal.SIGINT) - - # Wait for graceful shutdown with timeout - try: - self.ros_process.wait(timeout=15) - print("ROS stopped cleanly.") - except subprocess.TimeoutExpired: - print("ROS is taking too long to stop. Sending SIGTERM...") - self.ros_process.terminate() - try: - self.ros_process.wait(timeout=5) - except subprocess.TimeoutExpired: - print("Force stopping ROS...") - self.ros_process.kill() - self.ros_process.wait() - - # Clean up any remaining processes - print("Cleaning up any remaining processes...") - cleanup_commands = [ - "pkill -f 'ros2' || true", - "pkill -f 'localPlanner' || true", - "pkill -f 'pathFollower' || true", - "pkill -f 'terrainAnalysis' || true", - "pkill -f 'sensorScanGeneration' || true", - "pkill -f 'vehicleSimulator' || true", - "pkill -f 'visualizationTools' || true", - "pkill -f 'far_planner' || true", - "pkill -f 'graph_decoder' || true", - ] - - for cmd in cleanup_commands: - subprocess.run(cmd, shell=True, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL) - - print("All services stopped.") - sys.exit(0) - - def run(self): - # Register signal handlers - signal.signal(signal.SIGINT, self.signal_handler) - signal.signal(signal.SIGTERM, self.signal_handler) - - print("Starting ROS route planner and DimOS...") - - # Change to the ROS workspace directory - os.chdir("/ros2_ws/src/ros-navigation-autonomy-stack") - - # Start ROS route planner - print("Starting ROS route planner...") - self.ros_process = subprocess.Popen( - ["bash", "./system_simulation_with_route_planner.sh"], - preexec_fn=os.setsid, # Create new process group - ) - - print("Waiting for ROS to initialize...") - time.sleep(5) - - print("Starting DimOS navigation bot...") - - nav_bot_path = "/workspace/dimos/dimos/navigation/demo_ros_navigation.py" - venv_python = "/opt/dimos-venv/bin/python" - - if not os.path.exists(nav_bot_path): - print(f"ERROR: demo_ros_navigation.py not found at {nav_bot_path}") - nav_dir = "/workspace/dimos/dimos/navigation/" - if os.path.exists(nav_dir): - print(f"Contents of {nav_dir}:") - for item in os.listdir(nav_dir): - print(f" - {item}") - else: - print(f"Directory not found: {nav_dir}") - return - - if not os.path.exists(venv_python): - print(f"ERROR: venv Python not found at {venv_python}, using system Python") - return - - print(f"Using Python: {venv_python}") - print(f"Starting script: {nav_bot_path}") - - # Use the venv Python explicitly - try: - self.dimos_process = subprocess.Popen( - [venv_python, nav_bot_path], - stdout=subprocess.PIPE, - stderr=subprocess.PIPE, - text=True, - bufsize=1, - universal_newlines=True, - ) - - # Give it a moment to start and check if it's still running - time.sleep(2) - poll_result = self.dimos_process.poll() - if poll_result is not None: - # Process exited immediately - stdout, stderr = self.dimos_process.communicate(timeout=1) - print(f"ERROR: DimOS failed to start (exit code: {poll_result})") - if stdout: - print(f"STDOUT: {stdout}") - if stderr: - print(f"STDERR: {stderr}") - self.dimos_process = None - else: - print(f"DimOS started successfully (PID: {self.dimos_process.pid})") - - except Exception as e: - print(f"ERROR: Failed to start DimOS: {e}") - self.dimos_process = None - - if self.dimos_process: - print("Both systems are running. Press Ctrl+C to stop.") - else: - print("ROS is running (DimOS failed to start). Press Ctrl+C to stop.") - print("") - - # Wait for processes - try: - # Monitor both processes - while True: - # Check if either process has died - if self.ros_process.poll() is not None: - print("ROS process has stopped unexpectedly.") - self.signal_handler(signal.SIGTERM, None) - break - if self.dimos_process and self.dimos_process.poll() is not None: - print("DimOS process has stopped.") - # DimOS stopping is less critical, but we should still clean up ROS - self.signal_handler(signal.SIGTERM, None) - break - time.sleep(1) - except KeyboardInterrupt: - pass # Signal handler will take care of cleanup - - -if __name__ == "__main__": - wrapper = ROSLaunchWrapper() - wrapper.run() diff --git a/docker/navigation/run_both.sh b/docker/navigation/run_both.sh deleted file mode 100755 index 022ccd607c..0000000000 --- a/docker/navigation/run_both.sh +++ /dev/null @@ -1,202 +0,0 @@ -#!/bin/bash -# Script to run both ROS route planner and DimOS together - -echo "Starting ROS route planner and DimOS..." - -# Variables for process IDs -ROS_PID="" -DIMOS_PID="" -RVIZ_PID="" -UNITY_PID="" -SHUTDOWN_IN_PROGRESS=false - -# Function to handle cleanup -cleanup() { - if [ "$SHUTDOWN_IN_PROGRESS" = true ]; then - return - fi - SHUTDOWN_IN_PROGRESS=true - - echo "" - echo "Shutdown initiated. Stopping services..." - - # First, stop RViz - if [ -n "$RVIZ_PID" ] && kill -0 $RVIZ_PID 2>/dev/null; then - echo "Stopping RViz..." - kill -TERM $RVIZ_PID 2>/dev/null || true - sleep 1 - if kill -0 $RVIZ_PID 2>/dev/null; then - kill -9 $RVIZ_PID 2>/dev/null || true - fi - fi - - # Stop Unity simulator - if [ -n "$UNITY_PID" ] && kill -0 $UNITY_PID 2>/dev/null; then - echo "Stopping Unity simulator..." - kill -TERM $UNITY_PID 2>/dev/null || true - sleep 1 - if kill -0 $UNITY_PID 2>/dev/null; then - kill -9 $UNITY_PID 2>/dev/null || true - fi - fi - - # Then, try to gracefully stop DimOS - if [ -n "$DIMOS_PID" ] && kill -0 $DIMOS_PID 2>/dev/null; then - echo "Stopping DimOS..." - kill -TERM $DIMOS_PID 2>/dev/null || true - - # Wait up to 5 seconds for DimOS to stop - for i in {1..10}; do - if ! kill -0 $DIMOS_PID 2>/dev/null; then - echo "DimOS stopped cleanly." - break - fi - sleep 0.5 - done - - # Force kill if still running - if kill -0 $DIMOS_PID 2>/dev/null; then - echo "Force stopping DimOS..." - kill -9 $DIMOS_PID 2>/dev/null || true - fi - fi - - # Then handle ROS - send SIGINT to the launch process group - if [ -n "$ROS_PID" ] && kill -0 $ROS_PID 2>/dev/null; then - echo "Stopping ROS nodes (this may take a moment)..." - - # Send SIGINT to the process group to properly trigger ROS shutdown - kill -INT -$ROS_PID 2>/dev/null || kill -INT $ROS_PID 2>/dev/null || true - - # Wait up to 15 seconds for graceful shutdown - for i in {1..30}; do - if ! kill -0 $ROS_PID 2>/dev/null; then - echo "ROS stopped cleanly." - break - fi - sleep 0.5 - done - - # If still running, send SIGTERM - if kill -0 $ROS_PID 2>/dev/null; then - echo "Sending SIGTERM to ROS..." - kill -TERM -$ROS_PID 2>/dev/null || kill -TERM $ROS_PID 2>/dev/null || true - sleep 2 - fi - - # Final resort: SIGKILL - if kill -0 $ROS_PID 2>/dev/null; then - echo "Force stopping ROS..." - kill -9 -$ROS_PID 2>/dev/null || kill -9 $ROS_PID 2>/dev/null || true - fi - fi - - # Clean up any remaining ROS2 processes - echo "Cleaning up any remaining processes..." - pkill -f "rviz2" 2>/dev/null || true - pkill -f "Model.x86_64" 2>/dev/null || true - pkill -f "ros2" 2>/dev/null || true - pkill -f "localPlanner" 2>/dev/null || true - pkill -f "pathFollower" 2>/dev/null || true - pkill -f "terrainAnalysis" 2>/dev/null || true - pkill -f "sensorScanGeneration" 2>/dev/null || true - pkill -f "vehicleSimulator" 2>/dev/null || true - pkill -f "visualizationTools" 2>/dev/null || true - pkill -f "far_planner" 2>/dev/null || true - pkill -f "graph_decoder" 2>/dev/null || true - - echo "All services stopped." -} - -# Set up trap to call cleanup on exit -trap cleanup EXIT INT TERM - -# Source ROS environment -echo "Sourcing ROS environment..." -source /opt/ros/${ROS_DISTRO:-humble}/setup.bash -source /ros2_ws/install/setup.bash - -# Start ROS route planner in background (in new process group) -echo "Starting ROS route planner..." -cd /ros2_ws/src/ros-navigation-autonomy-stack - -# Run Unity simulation if available -UNITY_EXECUTABLE="./src/base_autonomy/vehicle_simulator/mesh/unity/environment/Model.x86_64" -if [ -f "$UNITY_EXECUTABLE" ]; then - echo "Starting Unity simulation environment..." - "$UNITY_EXECUTABLE" & - UNITY_PID=$! -else - echo "Warning: Unity environment not found at $UNITY_EXECUTABLE" - echo "Continuing without Unity simulation (you may need to provide sensor data)" - UNITY_PID="" -fi -sleep 3 -setsid bash -c 'ros2 launch vehicle_simulator system_simulation_with_route_planner.launch.py' & -ROS_PID=$! -ros2 run rviz2 rviz2 -d src/route_planner/far_planner/rviz/default.rviz & -RVIZ_PID=$! - -# Wait a bit for ROS to initialize -echo "Waiting for ROS to initialize..." -sleep 5 - -# Start DimOS -echo "Starting DimOS navigation bot..." - -# Check if the script exists -if [ ! -f "/workspace/dimos/dimos/navigation/demo_ros_navigation.py" ]; then - echo "ERROR: demo_ros_navigation.py not found at /workspace/dimos/dimos/navigation/demo_ros_navigation.py" - echo "Available files in /workspace/dimos/dimos/navigation/:" - ls -la /workspace/dimos/dimos/navigation/ 2>/dev/null || echo "Directory not found" -else - echo "Found demo_ros_navigation.py, activating virtual environment..." - if [ -f "/opt/dimos-venv/bin/activate" ]; then - source /opt/dimos-venv/bin/activate - echo "Python path: $(which python)" - echo "Python version: $(python --version)" - - # Install dimos package if not already installed - if ! python -c "import dimos" 2>/dev/null; then - echo "Installing dimos package..." - if [ -f "/workspace/dimos/setup.py" ] || [ -f "/workspace/dimos/pyproject.toml" ]; then - # Install Unitree extra (includes agents stack + unitree deps used by demo) - pip install -e "/workspace/dimos[unitree]" --quiet - else - echo "WARNING: dimos package not found at /workspace/dimos" - fi - fi - else - echo "WARNING: Virtual environment not found at /opt/dimos-venv, using system Python" - fi - - echo "Starting demo_ros_navigation.py..." - # Capture any startup errors - python /workspace/dimos/dimos/navigation/demo_ros_navigation.py 2>&1 & - DIMOS_PID=$! - - # Give it a moment to start and check if it's still running - sleep 2 - if kill -0 $DIMOS_PID 2>/dev/null; then - echo "DimOS started successfully with PID: $DIMOS_PID" - else - echo "ERROR: DimOS failed to start (process exited immediately)" - echo "Check the logs above for error messages" - DIMOS_PID="" - fi -fi - -echo "" -if [ -n "$DIMOS_PID" ]; then - echo "Both systems are running. Press Ctrl+C to stop." -else - echo "ROS is running (DimOS failed to start). Press Ctrl+C to stop." -fi -echo "" - -# Wait for processes -if [ -n "$DIMOS_PID" ]; then - wait $ROS_PID $DIMOS_PID 2>/dev/null || true -else - wait $ROS_PID 2>/dev/null || true -fi diff --git a/docker/navigation/start.sh b/docker/navigation/start.sh deleted file mode 100755 index be45908a33..0000000000 --- a/docker/navigation/start.sh +++ /dev/null @@ -1,389 +0,0 @@ -#!/bin/bash - -set -e - -GREEN='\033[0;32m' -YELLOW='\033[1;33m' -RED='\033[0;31m' -NC='\033[0m' - -# Parse command line arguments -MODE="simulation" -USE_ROUTE_PLANNER="false" -USE_RVIZ="false" -DEV_MODE="false" -ROS_DISTRO="humble" -LOCALIZATION_METHOD="${LOCALIZATION_METHOD:-arise_slam}" -while [[ $# -gt 0 ]]; do - case $1 in - --hardware) - MODE="hardware" - shift - ;; - --simulation) - MODE="simulation" - shift - ;; - --bagfile) - MODE="bagfile" - shift - ;; - --route-planner) - USE_ROUTE_PLANNER="true" - shift - ;; - --rviz) - USE_RVIZ="true" - shift - ;; - --dev) - DEV_MODE="true" - shift - ;; - --image) - if [ -z "$2" ] || [[ "$2" == --* ]]; then - echo -e "${RED}--image requires a value (humble or jazzy)${NC}" - exit 1 - fi - ROS_DISTRO="$2" - shift 2 - ;; - --localization) - if [ -z "$2" ] || [[ "$2" == --* ]]; then - echo -e "${RED}--localization requires a value (arise_slam or fastlio)${NC}" - exit 1 - fi - LOCALIZATION_METHOD="$2" - shift 2 - ;; - --help|-h) - echo "Usage: $0 [OPTIONS]" - echo "" - echo "Mode (mutually exclusive):" - echo " --simulation Start simulation container (default)" - echo " --hardware Start hardware container" - echo " --bagfile Start bagfile playback container (use_sim_time=true)" - echo "" - echo "Image and localization:" - echo " --image ROS 2 distribution: humble (default), jazzy" - echo " --localization SLAM method: arise_slam (default), fastlio" - echo "" - echo "Additional options:" - echo " --route-planner Enable FAR route planner (for hardware mode)" - echo " --rviz Launch RViz2 visualization" - echo " --dev Development mode (mount src for config editing)" - echo " --help, -h Show this help message" - echo "" - echo "Examples:" - echo " $0 --simulation # Start simulation" - echo " $0 --hardware --image jazzy # Hardware with Jazzy" - echo " $0 --hardware --localization fastlio # Hardware with FASTLIO2" - echo " $0 --hardware --route-planner --rviz # Hardware with route planner + RViz" - echo " $0 --hardware --dev # Hardware with src mounted" - echo " $0 --bagfile # Bagfile playback" - echo " $0 --bagfile --localization fastlio --route-planner # Bagfile with FASTLIO2 + route planner" - echo "" - echo "Press Ctrl+C to stop the container" - exit 0 - ;; - *) - echo -e "${RED}Unknown option: $1${NC}" - echo "Run '$0 --help' for usage information" - exit 1 - ;; - esac -done - -export ROS_DISTRO -export LOCALIZATION_METHOD -export IMAGE_TAG="${ROS_DISTRO}" - -SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" -cd "$SCRIPT_DIR" - -echo -e "${GREEN}================================================${NC}" -echo -e "${GREEN}Starting DimOS Docker Container${NC}" -echo -e "${GREEN}Mode: ${MODE}${NC}" -echo -e "${GREEN}ROS Distribution: ${ROS_DISTRO}${NC}" -echo -e "${GREEN}ROS Domain ID: ${ROS_DOMAIN_ID:-42}${NC}" -echo -e "${GREEN}Localization: ${LOCALIZATION_METHOD}${NC}" -echo -e "${GREEN}Image Tag: ${IMAGE_TAG}${NC}" -echo -e "${GREEN}================================================${NC}" -echo "" - -# Pull image option removed - use build.sh to build locally - -# Hardware-specific checks -if [ "$MODE" = "hardware" ]; then - # Check if .env file exists - if [ ! -f ".env" ]; then - if [ -f ".env.hardware" ]; then - echo -e "${YELLOW}Creating .env from .env.hardware template...${NC}" - cp .env.hardware .env - echo -e "${RED}Please edit .env file with your hardware configuration:${NC}" - echo " - LIDAR_IP: Full IP address of your Mid-360 lidar" - echo " - LIDAR_COMPUTER_IP: IP address of this computer on the lidar subnet" - echo " - LIDAR_INTERFACE: Network interface connected to lidar" - echo " - MOTOR_SERIAL_DEVICE: Serial device for motor controller" - echo "" - echo "After editing, run this script again." - exit 1 - fi - fi - - # Source the environment file - if [ -f ".env" ]; then - set -a - source .env - set +a - fi - - # Auto-detect group IDs for device permissions - echo -e "${GREEN}Detecting device group IDs...${NC}" - export INPUT_GID=$(getent group input | cut -d: -f3 || echo "995") - export DIALOUT_GID=$(getent group dialout | cut -d: -f3 || echo "20") - # Warn if fallback values are being used - if ! getent group input > /dev/null 2>&1; then - echo -e "${YELLOW}Warning: input group not found, using fallback GID ${INPUT_GID}${NC}" - fi - if ! getent group dialout > /dev/null 2>&1; then - echo -e "${YELLOW}Warning: dialout group not found, using fallback GID ${DIALOUT_GID}${NC}" - fi - echo -e " input group GID: ${INPUT_GID}" - echo -e " dialout group GID: ${DIALOUT_GID}" - - if [ -f ".env" ]; then - # Check for required environment variables - if [ -z "$LIDAR_IP" ] || [ "$LIDAR_IP" = "192.168.1.116" ]; then - echo -e "${YELLOW}Warning: LIDAR_IP still using default value in .env${NC}" - echo "Set LIDAR_IP to the actual IP address of your Mid-360 lidar" - fi - - if [ -z "$LIDAR_GATEWAY" ]; then - echo -e "${YELLOW}Warning: LIDAR_GATEWAY not configured in .env${NC}" - echo "Set LIDAR_GATEWAY to the gateway IP address for the lidar subnet" - fi - - # Check for robot IP configuration - if [ -n "$ROBOT_IP" ]; then - echo -e "${GREEN}Robot IP configured: $ROBOT_IP${NC}" - else - echo -e "${YELLOW}Note: ROBOT_IP not configured in .env${NC}" - echo "Set ROBOT_IP if using network connection to robot" - fi - - # Check for serial devices - echo -e "${GREEN}Checking for serial devices...${NC}" - if [ -e "${MOTOR_SERIAL_DEVICE:-/dev/ttyACM0}" ]; then - echo -e " Found device at: ${MOTOR_SERIAL_DEVICE:-/dev/ttyACM0}" - else - echo -e "${YELLOW} Warning: Device not found at ${MOTOR_SERIAL_DEVICE:-/dev/ttyACM0}${NC}" - echo -e "${YELLOW} Available serial devices:${NC}" - ls /dev/ttyACM* /dev/ttyUSB* 2>/dev/null || echo " None found" - fi - - # Check network interface for lidar - echo -e "${GREEN}Checking network interface for lidar...${NC}" - - # Get available ethernet interfaces - AVAILABLE_ETH="" - for i in /sys/class/net/*; do - if [ "$(cat $i/type 2>/dev/null)" = "1" ] && [ "$i" != "/sys/class/net/lo" ]; then - interface=$(basename $i) - if [ -z "$AVAILABLE_ETH" ]; then - AVAILABLE_ETH="$interface" - else - AVAILABLE_ETH="$AVAILABLE_ETH, $interface" - fi - fi - done - - if [ -z "$LIDAR_INTERFACE" ]; then - # No interface configured - echo -e "${RED}================================================================${NC}" - echo -e "${RED} ERROR: ETHERNET INTERFACE NOT CONFIGURED!${NC}" - echo -e "${RED}================================================================${NC}" - echo -e "${YELLOW} LIDAR_INTERFACE not set in .env file${NC}" - echo "" - echo -e "${YELLOW} Your ethernet interfaces: ${GREEN}${AVAILABLE_ETH}${NC}" - echo "" - echo -e "${YELLOW} ACTION REQUIRED:${NC}" - echo -e " 1. Edit the .env file and set:" - echo -e " ${GREEN}LIDAR_INTERFACE=${NC}" - echo -e " 2. Run this script again" - echo -e "${RED}================================================================${NC}" - exit 1 - elif ! ip link show "$LIDAR_INTERFACE" &>/dev/null; then - # Interface configured but doesn't exist - echo -e "${RED}================================================================${NC}" - echo -e "${RED} ERROR: ETHERNET INTERFACE '$LIDAR_INTERFACE' NOT FOUND!${NC}" - echo -e "${RED}================================================================${NC}" - echo -e "${YELLOW} You configured: LIDAR_INTERFACE=$LIDAR_INTERFACE${NC}" - echo -e "${YELLOW} But this interface doesn't exist on your system${NC}" - echo "" - echo -e "${YELLOW} Your ethernet interfaces: ${GREEN}${AVAILABLE_ETH}${NC}" - echo "" - echo -e "${YELLOW} ACTION REQUIRED:${NC}" - echo -e " 1. Edit the .env file and change to one of your interfaces:" - echo -e " ${GREEN}LIDAR_INTERFACE=${NC}" - echo -e " 2. Run this script again" - echo -e "${RED}================================================================${NC}" - exit 1 - else - # Interface exists and is configured correctly - echo -e " ${GREEN}✓${NC} Network interface $LIDAR_INTERFACE found" - echo -e " ${GREEN}✓${NC} Will configure static IP: ${LIDAR_COMPUTER_IP}/24" - echo -e " ${GREEN}✓${NC} Will set gateway: ${LIDAR_GATEWAY}" - echo "" - echo -e "${YELLOW} Network configuration mode: Static IP (Manual)${NC}" - echo -e " This will temporarily replace DHCP with static IP assignment" - echo -e " Configuration reverts when container stops" - fi - fi - -fi - -# Check if the image exists -if ! docker images --format '{{.Repository}}:{{.Tag}}' | grep -q "^dimos_autonomy_stack:${IMAGE_TAG}$"; then - echo -e "${RED}Docker image dimos_autonomy_stack:${IMAGE_TAG} not found.${NC}" - echo -e "${YELLOW}Please build it first with:${NC}" - echo -e " ./build.sh --${ROS_DISTRO}" - exit 1 -fi - -# Check for X11 display -if [ -z "$DISPLAY" ]; then - echo -e "${YELLOW}Warning: DISPLAY not set. GUI applications may not work.${NC}" - export DISPLAY=:0 -else - echo -e "${GREEN}Using DISPLAY: $DISPLAY${NC}" -fi -export DISPLAY - -# Allow X11 connections from Docker -echo -e "${GREEN}Configuring X11 access...${NC}" -xhost +local:docker 2>/dev/null || true - -# Setup X11 auth for remote/SSH connections -XAUTH=/tmp/.docker.xauth -touch $XAUTH 2>/dev/null || true -if [ -n "$DISPLAY" ]; then - xauth nlist $DISPLAY 2>/dev/null | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge - 2>/dev/null || true - chmod 644 $XAUTH 2>/dev/null || true - echo -e "${GREEN}X11 auth configured for display: $DISPLAY${NC}" -fi - -cleanup() { - xhost -local:docker 2>/dev/null || true -} - -trap cleanup EXIT - -# Check for NVIDIA runtime -if docker info 2>/dev/null | grep -q nvidia; then - echo -e "${GREEN}NVIDIA Docker runtime detected${NC}" - export DOCKER_RUNTIME=nvidia - if [ "$MODE" = "hardware" ]; then - export NVIDIA_VISIBLE_DEVICES=all - export NVIDIA_DRIVER_CAPABILITIES=all - fi -else - echo -e "${YELLOW}NVIDIA Docker runtime not found. GPU acceleration disabled.${NC}" - export DOCKER_RUNTIME=runc -fi - -# Set container name for reference -if [ "$MODE" = "hardware" ]; then - CONTAINER_NAME="dimos_hardware_container" -elif [ "$MODE" = "bagfile" ]; then - CONTAINER_NAME="dimos_bagfile_container" -else - CONTAINER_NAME="dimos_simulation_container" -fi - -# Export settings for docker-compose -export USE_ROUTE_PLANNER -export USE_RVIZ - -# Print helpful info before starting -echo "" -if [ "$MODE" = "hardware" ]; then - if [ "$USE_ROUTE_PLANNER" = "true" ]; then - echo "Hardware mode - Auto-starting ROS real robot system WITH route planner" - echo "" - echo "The container will automatically run:" - echo " - ROS navigation stack (system_real_robot_with_route_planner.launch)" - echo " - FAR Planner for goal-based navigation" - echo " - Foxglove Bridge" - else - echo "Hardware mode - Auto-starting ROS real robot system (base autonomy)" - echo "" - echo "The container will automatically run:" - echo " - ROS navigation stack (system_real_robot.launch)" - echo " - Foxglove Bridge" - fi - if [ "$USE_RVIZ" = "true" ]; then - echo " - RViz2 visualization" - fi - if [ "$DEV_MODE" = "true" ]; then - echo "" - echo -e " ${YELLOW}Development mode: src folder mounted for config editing${NC}" - fi - echo "" - echo "To enter the container from another terminal:" - echo -e " ${YELLOW}docker exec -it ${CONTAINER_NAME} bash${NC}" -elif [ "$MODE" = "bagfile" ]; then - if [ "$USE_ROUTE_PLANNER" = "true" ]; then - echo "Bagfile mode - Starting bagfile playback system WITH route planner" - echo "" - echo "The container will run (use_sim_time=true):" - echo " - ROS navigation stack (system_bagfile_with_route_planner.launch)" - echo " - FAR Planner for goal-based navigation" - else - echo "Bagfile mode - Starting bagfile playback system (base autonomy)" - echo "" - echo "The container will run (use_sim_time=true):" - echo " - ROS navigation stack (system_bagfile.launch)" - fi - if [ "$USE_RVIZ" = "true" ]; then - echo " - RViz2 visualization" - fi - echo "" - echo -e "${YELLOW}Remember to play bagfile with: ros2 bag play --clock ${NC}" - echo "" - echo "To enter the container from another terminal:" - echo -e " ${YELLOW}docker exec -it ${CONTAINER_NAME} bash${NC}" -else - echo "Simulation mode - Auto-starting ROS simulation and DimOS" - echo "" - echo "The container will automatically run:" - echo " - ROS navigation stack with route planner" - echo " - DimOS navigation demo" - echo "" - echo "To enter the container from another terminal:" - echo " docker exec -it ${CONTAINER_NAME} bash" -fi - -# Note: DISPLAY is now passed directly via environment variable -# No need to write RUNTIME_DISPLAY to .env for local host running - -# Create required directories -if [ "$MODE" = "hardware" ]; then - mkdir -p bagfiles config logs maps -elif [ "$MODE" = "bagfile" ]; then - mkdir -p bagfiles config maps -fi - -# Build compose command -COMPOSE_CMD="docker compose -f docker-compose.yml" -if [ "$DEV_MODE" = "true" ]; then - COMPOSE_CMD="$COMPOSE_CMD -f docker-compose.dev.yml" -fi - -if [ "$MODE" = "hardware" ]; then - $COMPOSE_CMD --profile hardware up -elif [ "$MODE" = "bagfile" ]; then - $COMPOSE_CMD --profile bagfile up -else - $COMPOSE_CMD up -fi diff --git a/docs/capabilities/navigation/readme.md b/docs/capabilities/navigation/readme.md index f36d795e62..f4283a3247 100644 --- a/docs/capabilities/navigation/readme.md +++ b/docs/capabilities/navigation/readme.md @@ -1,10 +1,9 @@ # Navigation +## Smart Nav + +- [Smart Nav](/docs/capabilities/navigation/smart_nav.md) — modular navigation stack with terrain analysis, local/global planning, PGO, and exploration ## Non-ROS - [Go2 Navigation](/docs/capabilities/navigation/native/index.md) — column-carving voxel mapping + slope-based costmap - -## ROS - -See [ROS Transports](/docs/usage/transports/index.md) for bridging DimOS streams to ROS topics. diff --git a/docs/capabilities/navigation/smart_nav.md b/docs/capabilities/navigation/smart_nav.md new file mode 100644 index 0000000000..b86fb3b212 --- /dev/null +++ b/docs/capabilities/navigation/smart_nav.md @@ -0,0 +1,437 @@ +# Smart Nav + +Smart Nav is a modular navigation stack for autonomous robot navigation and exploration. It handles terrain classification, obstacle avoidance, global path planning, local trajectory selection, and loop-closure-corrected mapping -- all wired together as composable Blueprint modules. + +It's a good fit when you have a lidar-equipped robot and need end-to-end autonomous navigation: give it a registered point cloud and odometry, and it produces velocity commands. The stack runs without ROS -- modules communicate over DimOS streams (LCM/SHM) and each component can be swapped or tuned independently. + +```python +from dimos.navigation.smart_nav.main import smart_nav + +blueprint = smart_nav() +``` + +Smart Nav consumes three external streams (typically provided by a SLAM module like FastLio2): + +| Stream | Type | Description | +|--------|------|-------------| +| `registered_scan` | `PointCloud2` | World-frame lidar scan | +| `odometry` | `Odometry` | SLAM odometry | +| `clicked_point` | `PointStamped` | Navigation goal from a viewer or agent | + +And produces: + +| Stream | Type | Description | +|--------|------|-------------| +| `cmd_vel` | `Twist` | Velocity command for the robot | +| `corrected_odometry` | `Odometry` | PGO loop-closure-corrected pose | +| `global_map` | `PointCloud2` | Accumulated keyframe map | + +## Customizing the Navigation + +All configuration is done through `smart_nav()` keyword arguments. Each module has its own config dict, and there are a few top-level switches for structural choices. + +```python +smart_nav( + use_simple_planner=False, # Use A* instead of FAR planner + use_tare=False, # Add TARE frontier exploration + use_terrain_map_ext=True, # Persistent terrain accumulator + vehicle_height=None, # Propagated to terrain + planner modules + + # Per-module config overrides (dicts merged onto defaults): + terrain_analysis={...}, + local_planner={...}, + path_follower={...}, + far_planner={...}, + simple_planner={...}, + pgo={...}, + movement_manager={...}, + tare_planner={...}, + terrain_map_ext={...}, +) +``` + +### Global Planner Selection + +- **FarPlanner** (default) -- visibility-graph planner with larger sensor range. Better for outdoor or long-range navigation. +- **SimplePlanner** (`use_simple_planner=True`) -- grid-based A* planner. Lightweight, readable, good for smaller environments or debugging. + +### Exploration + +Set `use_tare=True` to add the TARE frontier exploration module. When enabled, TARE takes over waypoint generation and drives the robot to unexplored frontiers autonomously. + +### Obstacle Sensitivity + +TerrainAnalysis and LocalPlanner both have `obstacle_height_threshold`. Keep them aligned -- if TerrainAnalysis flags something as an obstacle but LocalPlanner's threshold is higher, the planner may drive through it. + +```python +smart_nav( + terrain_analysis={"obstacle_height_threshold": 0.1}, + local_planner={"obstacle_height_threshold": 0.1}, +) +``` + +### Speed + +Speed is controlled at two levels. LocalPlanner caps how fast it will plan, PathFollower caps how fast it will execute. + +```python +smart_nav( + local_planner={"max_speed": 1.5, "autonomy_speed": 1.0}, + path_follower={"max_speed": 1.5, "autonomy_speed": 1.0}, +) +``` + +### Vehicle Height + +`vehicle_height` propagated from the top level sets it on TerrainAnalysis (ignore-above filter) and SimplePlanner (ground offset). For FarPlanner, pass it explicitly: + +```python +smart_nav( + vehicle_height=1.2, + far_planner={"vehicle_height": 1.2}, +) +``` + +### Visualization + +Smart Nav includes Rerun visualization configuration out of the box: + +```python +from dimos.navigation.smart_nav.main import smart_nav_rerun_config + +vis_config = smart_nav_rerun_config( + user_config=None, # optional overrides + agentic_debug=False, # elevate nav elements for top-down view +) +``` + +Key visual elements: +- **terrain_map** -- green=ground, red=obstacle (height-based coloring) +- **path** -- green line showing the local planner's chosen trajectory +- **goal_path** -- orange/yellow global plan +- **way_point** -- red sphere at the current intermediate target +- **goal** -- purple sphere at the navigation destination + +Set `agentic_debug=True` to raise goals, paths, and waypoints 3m above the scene for a clear top-down view when terrain occludes planning elements. + +### Module Parameter Reference + +
+TerrainAnalysis -- classifies lidar points into ground vs. obstacle, publishes a terrain cost map + +| Parameter | Default | Description | +|-----------|---------|-------------| +| `obstacle_height_threshold` | 0.1 m | Height above ground to classify as obstacle | +| `ground_height_threshold` | 0.1 m | Ground classification threshold | +| `vehicle_height` | 1.5 m | Ignore points above this height | +| `terrain_voxel_size` | 0.2 m | Terrain grid cell size | +| `terrain_voxel_half_width` | 10 | Grid radius in cells (full grid = 2N+1) | +| `decay_time` | 1.0 s | Point expiry time | +| `clearing_distance` | 8.0 m | Dynamic obstacle clearing distance | +| `scan_voxel_size` | 0.05 m | Input scan downsampling | +| `min_relative_z` | -1.5 m | Height-band filter min | +| `max_relative_z` | 0.3 m | Height-band filter max | + +
+ +
+LocalPlanner -- evaluates candidate paths against terrain/obstacles to select collision-free trajectories + +| Parameter | Default | Description | +|-----------|---------|-------------| +| `max_speed` | 2.0 m/s | Maximum velocity | +| `autonomy_speed` | 1.0 m/s | Velocity cap in autonomous mode | +| `obstacle_height_threshold` | 0.15 m | Height to classify as obstacle | +| `goal_clearance` | 0.5 m | Minimum clearance around the goal | +| `two_way_drive` | false | Allow reverse driving | +| `use_terrain_analysis` | true | Use terrain cost map for avoidance | +| `min_relative_z` | -0.4 m | Height-band filter min | +| `max_relative_z` | 0.3 m | Height-band filter max | +| `vehicle_length`, `vehicle_width` | -- | Robot footprint dimensions | + +
+ +
+PathFollower -- pure-pursuit controller with PID yaw control + +| Parameter | Default | Description | +|-----------|---------|-------------| +| `look_ahead_distance` | 0.5 m | Pure pursuit lookahead | +| `max_speed` | 2.0 m/s | Maximum velocity | +| `max_yaw_rate` | 80.0 deg/s | Maximum turning rate | +| `goal_tolerance` | 0.3 m | Path-end distance threshold | +| `autonomy_speed` | -- | Autonomous velocity cap (overrides max_speed) | +| `max_acceleration` | -- | Linear acceleration limit | +| `vehicle_config` | `"omniDir"` | Kinematics model (`"omniDir"` or `"standard"`) | + +
+ +
+FarPlanner -- visibility-graph global planner + +| Parameter | Default | Description | +|-----------|---------|-------------| +| `sensor_range` | 30.0 m | Sensor range for graph building | +| `terrain_range` | 7.5 m | Terrain processing range | +| `local_planner_range` | 2.5 m | Overlap with local planner | +| `robot_dimension` | 0.5 m | Robot footprint size | +| `vehicle_height` | 0.75 m | Robot height | +| `converge_dist` | 1.5 m | Goal convergence distance | +| `goal_adjust_radius` | 10.0 m | Goal adjustment search radius | +| `update_rate` | 5.0 Hz | Planning rate | + +
+ +
+SimplePlanner -- grid-based A* with stuck detection + +| Parameter | Default | Description | +|-----------|---------|-------------| +| `cell_size` | 0.3 m | Costmap grid resolution | +| `obstacle_height_threshold` | 0.15 m | Height to classify as obstacle | +| `inflation_radius` | 0.2 m | Safety margin around obstacles | +| `lookahead_distance` | 2.0 m | Waypoint lookahead on the path | +| `replan_rate` | 5.0 Hz | Planning loop frequency | +| `replan_cooldown` | 2.0 s | Minimum time between A* searches | +| `stuck_seconds` | 5.0 s | Time stationary before declaring stuck | +| `progress_epsilon` | 0.25 m | Minimum progress to not be stuck | +| `stuck_shrink_factor` | 0.5 | Inflation shrink per stuck escalation | +| `stuck_min_inflation` | 0.2 m | Floor for inflation shrink | + +
+ +
+PGO -- keyframe-based loop closure with ICP + GTSAM iSAM2 + +| Parameter | Default | Description | +|-----------|---------|-------------| +| `key_pose_delta_trans` | 0.5 m | Translation threshold for new keyframe | +| `key_pose_delta_deg` | 10 deg | Rotation threshold for new keyframe | +| `loop_search_radius` | 15.0 m | Radius to search for loop closures | +| `loop_time_thresh` | 60.0 s | Minimum time gap for loop candidate | +| `loop_score_thresh` | 0.3 | ICP fitness score threshold | +| `global_map_publish_rate` | 0.5 Hz | Map publication frequency | +| `global_map_voxel_size` | 0.15 m | Map voxel downsampling | + +
+ +
+TerrainMapExt -- persistent rolling voxel grid for wider terrain context + +| Parameter | Default | Description | +|-----------|---------|-------------| +| `voxel_size` | 0.1 m | Voxel cell size | +| `decay_time` | 30.0 s | Point expiry time | +| `publish_rate` | 2.0 Hz | Publication frequency | +| `max_range` | 40.0 m | Maximum distance from robot | + +
+ +
+MovementManager -- multiplexes teleop and autonomous velocity, relays goals + +| Parameter | Default | Description | +|-----------|---------|-------------| +| `tele_cooldown_sec` | 1.0 s | Cooldown before nav re-enables after teleop | + +
+ +## Architecture + +```mermaid +flowchart TB + subgraph external [External Inputs] + lidar[/"registered_scan\n(PointCloud2)"/] + odom[/"odometry\n(Odometry)"/] + click[/"clicked_point\n(PointStamped)"/] + teleop[/"tele_cmd_vel\n(Twist)"/] + end + + subgraph pgo_block [Pose Graph Optimization] + PGO + end + + subgraph terrain [Terrain Processing] + TA[TerrainAnalysis] + TME[TerrainMapExt] + end + + subgraph planning [Planning] + MM_goal[MovementManager\n--- goal relay ---] + FAR["FarPlanner\n(or SimplePlanner)"] + end + + subgraph local [Local Control] + LP[LocalPlanner] + PF[PathFollower] + MM_vel[MovementManager\n--- velocity mux ---] + end + + subgraph output [Output] + cmd[/"cmd_vel\n(Twist)"/] + corr_odom[/"corrected_odometry\n(Odometry)"/] + gmap[/"global_map\n(PointCloud2)"/] + end + + %% Odometry paths + odom -->|raw odometry| PGO + odom -.->|raw odometry\n"local frame"| LP + odom -.->|raw odometry\n"local frame"| PF + PGO -->|corrected_odometry\n"global frame"| TA + PGO -->|corrected_odometry| FAR + PGO -->|corrected_odometry| MM_goal + PGO --> corr_odom + PGO --> gmap + + %% Lidar path + lidar --> PGO + lidar --> TA + lidar --> LP + + %% Terrain path + TA -->|terrain_map| TME + TA -->|terrain_map| LP + TME -->|terrain_map_ext| FAR + + %% Goal path + click --> MM_goal + teleop --> MM_goal + MM_goal -->|goal| FAR + MM_goal -->|stop_movement| FAR + + %% Planning path + FAR -->|way_point| LP + FAR -->|goal_path| output + + %% Local control path + LP -->|path| PF + PF -->|nav_cmd_vel| MM_vel + teleop --> MM_vel + MM_vel --> cmd + + %% Styling + classDef ext fill:#e8e8e8,stroke:#999,color:#333 + classDef mod fill:#4a90d9,stroke:#2c5f8a,color:#fff + classDef out fill:#5cb85c,stroke:#3d8b3d,color:#fff + class lidar,odom,click,teleop ext + class PGO,TA,TME,MM_goal,FAR,LP,PF,MM_vel mod + class cmd,corr_odom,gmap out +``` + +Odometry is split into two paths following the CMU autonomy convention: + +- **Local modules** (LocalPlanner, PathFollower) use raw SLAM odometry directly -- they work in the sensor/body frame. +- **Global modules** (FarPlanner/SimplePlanner, TerrainAnalysis, MovementManager) use PGO-corrected odometry for globally consistent coordinates. + +## Using with a New Robot + +If you have a robot with a Livox Mid-360 lidar and a module that accepts `cmd_vel: In[Twist]`, you can get autonomous navigation running with three blueprints composed via `autoconnect`. + +### Minimal Blueprint + +```python +from dimos.core.coordination.blueprints import autoconnect +from dimos.hardware.sensors.lidar.fastlio2.module import FastLio2 +from dimos.navigation.smart_nav.main import smart_nav + +from my_robot.control import MyRobotControl # your module + +my_robot_nav = ( + autoconnect( + # 1. Lidar SLAM — produces registered_scan + odometry + FastLio2.blueprint( + host_ip="192.168.1.5", # your machine's IP on the lidar network + lidar_ip="192.168.1.155", # the Mid-360's IP + mount=Pose(z=0.5), # sensor height above ground + ), + + # 2. Navigation stack — consumes registered_scan + odometry, + # produces cmd_vel + smart_nav( + use_simple_planner=True, + vehicle_height=0.8, # your robot's height + ), + + # 3. Your robot — consumes cmd_vel + MyRobotControl.blueprint(), + ) + .remappings([ + # FastLio2 publishes "lidar", but smart_nav expects "registered_scan" + (FastLio2, "lidar", "registered_scan"), + ]) +) +``` + +### What Your Robot Module Needs + +The only requirement is a module with a `cmd_vel: In[Twist]` stream that subscribes to velocity commands and drives the hardware. A minimal example: + +```python +from dimos.core.core import rpc +from dimos.core.module import Module, ModuleConfig +from dimos.core.stream import In +from dimos.msgs.geometry_msgs.Twist import Twist + + +class MyRobotConfig(ModuleConfig): + pass + + +class MyRobotControl(Module): + config: MyRobotConfig + cmd_vel: In[Twist] + + @rpc + def start(self) -> None: + super().start() + self.cmd_vel.subscribe(self._on_cmd_vel) + + def _on_cmd_vel(self, twist: Twist) -> None: + vx = twist.linear.x # forward/back (m/s) + vy = twist.linear.y # strafe left/right (m/s) + vyaw = twist.angular.z # rotation (rad/s) + # ... send to your hardware SDK ... +``` + +### Key Wiring Details + +- **Stream name remap**: FastLio2 outputs `lidar`, but smart_nav expects `registered_scan`. The `.remappings()` call handles this. The `odometry` stream name matches on both sides, so it connects automatically. +- **`mount` pose**: Set this to your sensor's position relative to the ground. The z component shifts the SLAM origin so ground sits at z=0, which is critical for terrain analysis to classify obstacles correctly. +- **`vehicle_height`**: Tells TerrainAnalysis to ignore lidar points above the robot (e.g. ceilings). Set it to your robot's actual height. +- **`cmd_vel` convention**: `linear.x` = forward, `linear.y` = strafe, `angular.z` = yaw rate. If your robot is differential-drive (no strafe), set `local_planner={"two_way_drive": False}` and `path_follower={"vehicle_config": "standard"}`. + +### Adding Visualization + +To see what the navigation stack is doing, add a Rerun bridge: + +```python +from dimos.navigation.smart_nav.main import smart_nav, smart_nav_rerun_config +from dimos.visualization.rerun.bridge import RerunBridgeModule + +my_robot_nav = ( + autoconnect( + FastLio2.blueprint(...), + smart_nav(...), + MyRobotControl.blueprint(), + RerunBridgeModule.blueprint(**smart_nav_rerun_config()), + ) + .remappings([ + (FastLio2, "lidar", "registered_scan"), + ]) +) +``` + +### Adding Teleop + +Smart Nav's MovementManager accepts `tele_cmd_vel` for manual override. When teleop commands arrive, MovementManager cancels the active navigation goal and forwards teleop velocities directly. After `tele_cooldown_sec` (default 1s) of silence, autonomous navigation resumes. + +Wire any module that publishes `tele_cmd_vel: Out[Twist]` (keyboard teleop, joystick, etc.) into the `autoconnect` and it connects automatically. + +### Sending Goals + +Navigation goals come in via the `clicked_point` stream (`PointStamped` with x/y/z in the map frame). You can: + +- Click in the Rerun viewer (if RerunBridgeModule is active) +- Use `dimos agent-send "go to the door"` (if an MCP agent is wired up) +- Publish programmatically from another module with `clicked_point: Out[PointStamped]` +- Use the CLI: `bin/send_clicked_point ` diff --git a/docs/development/conventions.md b/docs/development/conventions.md new file mode 100644 index 0000000000..0a3cea051a --- /dev/null +++ b/docs/development/conventions.md @@ -0,0 +1,9 @@ +This mostly to track when conventions change (with regard to codebase updates) because this codebase is under heavy development. Note: this is a non-exhaustive list of conventions. + +- When adding visualization tools to a blueprint/autoconnect, instead of using RerunBridge or WebsocketVisModule directly we should always use `vis_module`, which right now should look something like `vis_module(viewer_backend=global_config.viewer, rerun_config={}),` +- `DEFAULT_THREAD_JOIN_TIMEOUT` is used for all thread.join timeouts +- Module configs should be specified as `config: ModuleSpecificConfigClass` +- To customize the way rerun renders something, right now we use a `rerun_config` dict. This will (hopefully) change very soon to be a per-module config instead of a per-blueprint config +- Similar to the `rerun_config` the `rrb` (rerun blueprint) is defined at a blueprint level right now, but ideally would be a per-module contribution with only a per-blueprint override of the layout. +- No `__init__.py` files +- Helper blueprints (like `_with_vis`) that should not be used on their own need to start with an underscore to avoid being picked up by the all_blueprints.py code generation step diff --git a/pyproject.toml b/pyproject.toml index 364fc6d22b..9d6afee0fa 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -63,12 +63,13 @@ dependencies = [ "annotation-protocol>=1.4.0", "lazy_loader", "plum-dispatch==2.5.7", + "xxhash>=3.0.0", # Logging "structlog>=25.5.0,<26", "colorlog==6.9.0", # Core Msgs "opencv-python", - "open3d-unofficial-arm; platform_system == 'Linux' and platform_machine == 'aarch64'", + "open3d-unofficial-arm>=0.19.0.post9; platform_system == 'Linux' and platform_machine == 'aarch64'", "open3d>=0.18.0; platform_system != 'Linux' or platform_machine != 'aarch64'", # CLI "pydantic-settings>=2.11.0,<3", @@ -82,12 +83,13 @@ dependencies = [ # TODO: rerun shouldn't be required but rn its in core (there is NO WAY to use dimos without rerun rn) # remove this once rerun is optional in core "rerun-sdk>=0.20.0", - "dimos-viewer>=0.30.0a2", + "dimos-viewer==0.30.0a6.dev99", "toolz>=1.1.0", "protobuf>=6.33.5,<7", "psutil>=7.0.0", "sqlite-vec>=0.1.6", "lz4>=4.4.5", + "open3d-unofficial-arm>=0.19.0.post9", ] @@ -291,6 +293,10 @@ sim = [ "pygame>=2.6.1", ] +navigation = [ + "gtsam-extended>=4.3a1.post1", +] + # NOTE: jetson-jp6-cuda126 extra is disabled due to 404 errors from wheel URLs # The pypi.jetson-ai-lab.io URLs are currently unavailable. Update with working URLs when available. # jetson-jp6-cuda126 = [ @@ -327,7 +333,7 @@ docker = [ "sortedcontainers", "PyTurboJPEG", "rerun-sdk", - "open3d-unofficial-arm; platform_system == 'Linux' and platform_machine == 'aarch64'", + "open3d-unofficial-arm>=0.19.0.post9; platform_system == 'Linux' and platform_machine == 'aarch64'", "open3d>=0.18.0; platform_system != 'Linux' or platform_machine != 'aarch64'", ] @@ -335,6 +341,9 @@ base = [ "dimos[agents,web,perception,visualization,sim]", ] +[tool.uv] +override-dependencies = ["pytest==8.3.5"] # because gtsam screwed up their dev dependencies + [tool.ruff] line-length = 100 exclude = [ @@ -463,4 +472,6 @@ ignore = [ "dimos/dashboard/dimos.rbl", "dimos/web/dimos_interface/themes.json", "dimos/manipulation/manipulation_module.py", + "dimos/navigation/smart_nav/modules/*/main.cpp", + "dimos/navigation/smart_nav/common/*.hpp", ] diff --git a/uv.lock b/uv.lock index 529842294b..b43af3f132 100644 --- a/uv.lock +++ b/uv.lock @@ -2,27 +2,60 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