Nav wishlist

why

This will be used for:

• XXXXXX redacted
• Aoki
• any future livox integration.

Nav is a critical component and biggest unknown for me personally atm

preliminary wishlist

• proper dimos integration
  dimos docker module (auto downloaded, auto built) no to_ros conversions but correct ROSTransport integration

• map load
  what's the format? Ideally voxel grid (pointcloud2) might want to support occupancygrid also but can write a converter? idk

• relocalization on the loaded map
  how do frame_ids work exactly? does our base_link jump? does world->map jump? etc
  how does this interact with local controllers, make sure local controller donesn't think the robot teleported

• robust in dynamic envs, no polution of local map when navigating if people are walking around the robot, in my tests walking around G1 would capture it forever because it thought space got occupied around it

above are critical things we can't move at all without, below are things we should have a clear path towards, no optional "nice to haves" actually here

• map save
  what's the format? Ideally voxel grid (pointcloud2)

• dynamic global map
  Immediate voxel deletions and aditions based on the changes in the environment.
  so not this: https://discord.com/channels/1341146487186391173/1357833666751107174/1418758974848766024

  dimos --replay --no-dask run unitree-go2
  Does this. if this is an issue for ROS side, we can potentially use ROS only for odometry via fast-lio and nothing else, use my global mapper?

  I can also solve relocalization on my end with O3D ICP, this worked ok in my initial tests but needs more research and confirmation

• to_ros methods and ros imports to be removed from the codebase

todo

agree on above, timelines, and create a ros nav module spec

there is an option of running only fast-lio, maybe voxelizer/decimation for lidar, and everything else on dimos stack
https://github.com/BurhanMuhyiddin/FAST-LIO-NON-ROS fast lio might not need ros. voxelizer very easy to write in cpp or even cuda

No implementation files or tests are named. Start by reviewing the wishlist and the linked FAST-LIO and replay references, then agree on scope, timelines, and a ROS navigation module specification; done means the team has a decided, actionable plan rather than an open-ended list of navigation requirements.