Jeff/fix/rosnav8

[jeff-hykin]

Pre-requisite PRs

• unity-sim — #1681 (merged)
• docker — #1431 (merged)
• dimos-viewer (separate repo PR) websockets and --connect

POST-MERGE Requirements

• Nav Stack: Testing suite #2014 Nav Testing Suite
• Nav Stack: Redo Transform Frames #2008 Transform frames
• Standardize Nav Protocol #2012 Nav Protocol
• Switch to PGO as Native Module #2007 make PGO Native module
• Optimize Terrain Mapper #2015 Convert terrain mapper to rust
• Improve Movement Manager #2013 Refresh movement manager
• Redo Visualization for FAR Planner #2006 Fixup FAR planner visualization (GraphNode3D)
• Nav Stack: make Gtsam-extended not need pytest #2009 Fixup gtsam's dependencies
• Nav Stack Cleaning #2011 Many misc cleaning items

Problem

We need nav

Solution

• port over the whole nav stack all at once

Breaking Changes

• None

How to Test

git checkout jeff/fix/rosnav8

# needs testing, but is in a testable state
git checkout cfdeee339f4acb7a3dbe12d803743ee4ec70bc05

# simulation
uv run dimos run unitree-g1-nav-sim

# real
uv run dimos --rerun-host 0.0.0.0 run unitree-g1-nav-onboard

Contributor License Agreement

• I have read and approved the CLA.

[leshy]

maybe I'd think of a better name then "smartnav" - so many things are so smart today this prefix doesn't add information for me, "rosnav" has been our internal name which is still better imo, does this nav stack have some offical name?

[jeff-hykin]

"rosnav" has been our internal name which is still better imo, does this nav stack have some offical name?

I'm also not a fan of smart_nav, but:

• at one point there was rosnav (docker) and non_ros_nav in the same branch
• nav2 is already a library so I couldn't call it that
• so smart_nav was named back then
• Afik (who has been working on this since rosnav3 with docker) yesterday was like "why are you calling it rosnav7 when you took the ros out of it"

I asked claude just now and it suggested NavCore which I think is at least better than rosnav and smart_nav

[leshy]

I asked claude just now and it suggested NavCore which I think is at least better than rosnav and smart_nav

CMUNav? ProfYangNav? this nav stack does have an actual name afaik, don't name it NavCore as this is just one of the nav systems and def not core since will be replaced, needs a unique name for a project, we will invent a name if it doesn't have one