feat: rust transform support

[aclauer]

Problem

We need transforms with Rust

Closes DIM-XXX

Solution

Add #[tf] attribute to subscribe a module to the transform topic
get_latest() -> get the latest transform between two frames
.at() to set source time for a transform
.tolerance() for max allowed gap between time set by .at()
.within() for how long to wait for a valid transform on the topic before just returning None

Other

• add IO ports
• ensure 1:1 mapping of topics between python wrapper and what rust expects
• add toggle to turn off base_link tf from go2 for when we are setting base_link from mid360 or other source

Transforms are collected in a hash map and inter-frame transforms are built on demand

How to Test

uv run python examples/native-modules/rust_tf.py

Contributor License Agreement

• I have read and approved the CLA.

[codecov]

Codecov Report

❌ Patch coverage is 96.62651% with 14 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/navigation/basic_path_follower/module.py	70.58%	4 Missing and 1 partial ⚠️
dimos/navigation/nav_3d/mls_planner/goal_relay.py	91.89%	1 Missing and 2 partials ⚠️
dimos/navigation/tf_pose.py	93.02%	1 Missing and 2 partials ⚠️
...s/robot/unitree/go2/blueprints/test_tf_topology.py	93.75%	1 Missing and 1 partial ⚠️
.../robot/unitree/go2/go2_mid360_static_transforms.py	75.00%	1 Missing ⚠️

@@            Coverage Diff             @@
##             main    #2816      +/-   ##
==========================================
+ Coverage   75.37%   75.46%   +0.08%     
==========================================
  Files        1153     1157       +4     
  Lines      110948   111276     +328     
  Branches    10047    10073      +26     
==========================================
+ Hits        83631    83972     +341     
+ Misses      24462    24416      -46     
- Partials     2855     2888      +33     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	69.46% <96.62%> (+0.12%)	⬆️
OS-ubuntu-latest	71.51% <96.62%> (+0.11%)	⬆️
Py-3.10	71.50% <96.62%> (+0.11%)	⬆️
Py-3.11	71.51% <96.62%> (+0.11%)	⬆️
Py-3.12	71.50% <96.62%> (+0.11%)	⬆️
Py-3.13	71.50% <96.62%> (+0.11%)	⬆️
Py-3.14	71.51% <96.62%> (+0.11%)	⬆️
Py-3.14t	71.50% <96.62%> (+0.11%)	⬆️
SelfHosted-Large	29.60% <33.09%> (+0.23%)	⬆️
SelfHosted-Linux	35.93% <33.09%> (+0.11%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/core/native_module.py	72.11% <100.00%> (+3.18%)	⬆️
dimos/core/test_native_module.py	97.02% <100.00%> (+0.64%)	⬆️
...imos/navigation/basic_path_follower/test_module.py	100.00% <100.00%> (ø)
...avigation/nav_3d/mls_planner/mls_planner_native.py	100.00% <100.00%> (ø)
...s/navigation/nav_3d/mls_planner/test_goal_relay.py	100.00% <100.00%> (ø)
dimos/navigation/test_tf_pose.py	100.00% <100.00%> (ø)
dimos/robot/all_blueprints.py	100.00% <ø> (ø)
.../go2/blueprints/basic/unitree_go2_mid360_record.py	78.78% <ø> (ø)
...e/go2/blueprints/navigation/unitree_go2_mls_htc.py	83.33% <ø> (ø)
...ee/go2/blueprints/navigation/unitree_go2_nav_3d.py	79.03% <100.00%> (-0.66%)	⬇️
... and 10 more

... and 8 files with indirect coverage changes

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[greptile-apps]

Greptile Summary

This PR adds transform (tf) support for Rust native modules, mirroring the existing Python tf API. It introduces #[tf] derive support that gives Rust modules a Tf handle with get() / get_latest() for nearest-sample BFS lookups, backed by a per-edge time-sorted ring buffer. On the Python side, it consolidates pose resolution into a shared OdomBasePose helper and eliminates the now-redundant OdomBodyFrame module.

• Rust tf crate (native/rust/dimos-module/src/tf.rs): New 759-line file implementing TBuffer, MultiTBuffer, BFS path composition, LCM encode/decode, and a comprehensive test suite covering direct/reverse/multi-hop edges, tolerance filtering, time ordering, and publish round-trips.
• Python tf helpers (dimos/navigation/tf_pose.py): New OdomBasePose class that resolves sensor-frame odometry into base-frame poses by looking up the static mount leg once, then reusing it. GoalRelay and BasicPathFollower are updated to use this instead of the deleted OdomBodyFrame.
• Blueprint cleanup (dimos/robot/unitree/go2/zenoh/blueprints.py): Removes OdomBodyFrame from nav stack; GoalRelay now receives lidar_height from the physical ROBOT_HEIGHT constant and handles the ground projection internally via OdomBasePose.

Confidence Score: 5/5

Safe to merge; the transform graph, BFS composition, and Python pose-resolution logic are all well-tested and the previously-raised concerns are confirmed resolved.

The Rust tf crate has comprehensive unit and async tests covering direct/reverse/multi-hop edges, tie-breaking, tolerance filtering, out-of-order insertion, publish round-trips, and decode errors. The Python OdomBasePose helper is similarly well-covered. The BFS visited-before-edge-check issue flagged in a previous review is confirmed fixed in the current diff. No data-loss or incorrect-behavior paths were found after tracing the -leg inversion math, the stamp encoding overflow guard, and the lazy tf handle construction.

No files require special attention.

Important Files Changed

Filename	Overview
native/rust/dimos-module/src/tf.rs	New 759-line tf transform crate with BFS graph traversal, time-sorted ring buffers, and thorough test coverage; previously-flagged BFS visited-before-edge-check issue is confirmed fixed.
dimos/navigation/tf_pose.py	New OdomBasePose helper caches the static mount leg from tf once and reuses it per message; throttled retry on missing leg, well-tested.
dimos/navigation/nav_3d/mls_planner/goal_relay.py	Updated to use OdomBasePose and _resolve_base_height; the -leg inversion correctly converts sensor→base to base→sensor before calling base_height_above_ground.
dimos/navigation/basic_path_follower/module.py	Switches from raw Odometry to OdomBasePose-resolved PoseStamped, simplifying the control loop and removing the OdomBodyFrame dependency.
dimos/core/native_module.py	Adds the tf channel to every NativeModule's stdin config unconditionally; modules without #[tf] simply ignore it.
native/rust/dimos-module/src/module.rs	Builder.tf() lazily initialises one shared TBuffer+route pair; repeated calls return the same Tf clone; tested.
dimos/core/transport_factory.py	Adds tf_channel() that returns the correct wire channel name for both Zenoh and LCM backends.
dimos/robot/unitree/go2/zenoh/blueprints.py	Removes OdomBodyFrame from all nav blueprints; GoalRelay now receives lidar_height=ROBOT_HEIGHT and handles the ground projection itself.

Sequence Diagram

sequenceDiagram
    participant P as Python TfProducer
    participant T as /tf topic
    participant R as Rust TfRoute (TfRoute.try_dispatch)
    participant B as MultiTBuffer (BFS graph)
    participant M as Rust Module (#[tf] Tf handle)
    participant G as GoalRelay (OdomBasePose)

    P->>T: publish Transform (a→b, b→c)
    T->>R: LCM TFMessage bytes
    R->>B: buffer.receive(parent, child, ts, iso)

    Note over B: TBuffer.add() inserts sorted,<br/>prunes outside window_secs

    M->>B: tf.get_latest("a","d")
    B->>B: BFS over edge graph
    B-->>M: composed Transform (a→d)

    Note over G: OdomBasePose.resolve(odometry)
    G->>B: tf.get("mid360_link","base_link")
    B-->>G: cached static leg (once)
    G->>G: odom + leg → base_link PoseStamped
    G->>G: "start.position.z -= base_height_above_ground"
    G-->>G: publish start_pose

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