dimensionalOS / dimensionalOS/dimos
Separate PointLio and lidar driver modules
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- Dominant language
- Python
- Stars
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- Merged PRs (30d)
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Description
Currently we have:
network udp → <lidar driver + pointlio> → corrected points, odom, tf
We should rewrite to:
network udp → → raw points, timing, imu → → corrected points, odom, tf
Then we can support mid360 and m20 lidars without copying pointlio config wiring
Synced from DIM-1550 by andrew
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
No files, tests, or entry points are named. Start by locating the current combined lidar-driver and PointLIO pipeline and its configuration wiring; the work is done when lidar drivers provide raw points, timing, and IMU data to a separate PointLIO module that produces corrected points, odom, and tf without duplicated wiring.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- python
- Domain
- robotics
- Issue type
- Refactor
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Active
- Clarity
- Mostly clear
- Newbie friendliness
- 38/100