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

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

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