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leshy edited this page Jul 1, 2026 · 18 revisions

Nav Tooling

Record

how to record Mid360 + Go2 + Kronknav + Dan trajectory

I guess we need to store goal placement so that we can replay kronkav exactly?

TODO: can we run IRL kronknav in parallel with recording? (so that we have nice bug report if it fails)

how to record GO2 + Kronknav + Dan trajectory

TODO: just 2D go2 lidar/global map + kronknav + Dan trajectory

I guess we need to store goal placement so that we can replay kronkav exactly?

Replay

Replay an IRL kronkav execution

we need this to improve the algo, a user can bugreport a bad nav, then we can replay, change the code, improve

TODO: I guess sensor data + point clicks should be enough to reproduce

run kronknav on arbitrary dataset

uv run maturin develop --uv --release -m dimos/mapping/ray_tracing/rust/Cargo.toml && uv run maturin develop --uv --release -m dimos/navigation/nav_3d/mls_planner/rust/Cargo.toml
uv run python -m dimos.navigation.nav_3d.mls_planner.utils.plan_rrd ~/recordings/china_office_pointlio_sensor.db --robot-height 0.4 --lidar-stream pointlio_lidar --odom-stream pointlio_odom

Point-LIO Tuning

  1. Record mid360 with PCAP enabled, see the go2_mid360.md doc (in dimos)
  2. Use pcap_to_db.py to generate alternative lidar/odom outcomes - renders to rerun

Pcap to DB

You can see/edit the default Point-LIO config here.

python -m dimos.hardware.sensors.lidar.pointlio.scripts.pcap_to_db --pcap mid360_shake_stairs/mid360_shake_stairs.pcap --db stairs.db

will open up rerun with aggregated map + odom path create a new db file with the pointlio stream

generate a global map from this via

dimos map global --lidar pointlio_lidar --pgo-tol=0 --no-carve

MacOS Caveats

The module aliases the synthetic IPs onto lo0, which needs sudo. A tty-less worker can't prompt, so set up the interface by hand, then pass --no-network-setup:

sudo ifconfig lo0 alias 192.168.1.5 netmask 255.255.255.0
sudo ifconfig lo0 alias 192.168.1.155 netmask 255.255.255.0
sudo route -n add -host 224.1.1.5 -interface lo0
sudo route -n add -host 255.255.255.255 -interface lo0

python -m dimos.hardware.sensors.lidar.pointlio.scripts.pcap_to_db \
    --pcap "$PCAP" --no-network-setup

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