Merge pull request #923 from dimensionalOS/remove-old-nav

Remove old navigation modules

Former-commit-id: 753f52d

Author: paul-nechifor

data/.lfs/astar_corner_general.png.tar.gz

@@ -19,7 +19,6 @@
 from pydantic_settings import BaseSettings, SettingsConfigDict
 
 from dimos.mapping.occupancy.path_map import NavigationStrategy
-from dimos.navigation.global_planner.types import AStarAlgorithm
 
 ViewerBackend: TypeAlias = Literal["rerun-web", "rerun-native", "foxglove"]
 
@@ -48,7 +47,6 @@ class GlobalConfig(BaseSettings):
     robot_width: float = 0.3
     robot_rotation_diameter: float = 0.6
     planner_strategy: NavigationStrategy = "simple"
-    astar_algorithm: AStarAlgorithm = "min_cost"
     planner_robot_speed: float | None = None
 
     model_config = SettingsConfigDict(

data/.lfs/astar_general.png.tar.gz

@@ -17,7 +17,6 @@
 import queue
 import time
 
-from dimos_lcm.sensor_msgs import CameraInfo
 import reactivex as rx
 from reactivex import operators as ops
 from reactivex.disposable import Disposable
@@ -30,6 +29,7 @@
 from dimos.hardware.sensors.camera.webcam import Webcam
 from dimos.msgs.geometry_msgs import Quaternion, Transform, Vector3
 from dimos.msgs.sensor_msgs import Image
+from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo
 from dimos.msgs.sensor_msgs.Image import Image, sharpness_barrier
 from dimos.spec import perception as spec  # type: ignore[no-redef]
 
@@ -48,6 +48,7 @@ class CameraModuleConfig(ModuleConfig):
     frame_id: str = "camera_link"
     transform: Transform | None = field(default_factory=default_transform)
     hardware: Callable[[], CameraHardware] | CameraHardware = Webcam  # type: ignore[type-arg]
+    frequency: float = 5.0
 
 
 class CameraModule(Module[CameraModuleConfig], spec.Camera):
@@ -84,7 +85,7 @@ def start(self):  # type: ignore[no-untyped-def]
 
         # camera_info_stream = self.camera_info_stream(frequency=5.0)
 
-        def publish_info(camera_info: CameraInfo):  # type: ignore[no-untyped-def]
+        def publish_info(camera_info: CameraInfo) -> None:
             self.camera_info.publish(camera_info)
 
             if self.config.transform is None:
@@ -103,7 +104,7 @@ def publish_info(camera_info: CameraInfo):  # type: ignore[no-untyped-def]
             self.tf.publish(camera_link, camera_optical)
 
         self._camera_info_subscription = self.camera_info_stream().subscribe(publish_info)  # type: ignore[assignment]
-        self._module_subscription = stream.subscribe(self.image.publish)  # type: ignore[attr-defined]
+        self._module_subscription = stream.subscribe(self.color_image.publish)  # type: ignore[attr-defined]
 
     @skill(stream=Stream.passive, output=Output.image, reducer=Reducer.latest)  # type: ignore[arg-type]
     def video_stream(self) -> Image:  # type: ignore[misc]
@@ -149,3 +150,8 @@ def stop(self):  # type: ignore[no-untyped-def]
         if self.hardware and hasattr(self.hardware, "stop"):
             self.hardware.stop()
         super().stop()
+
+
+camera_module = CameraModule.blueprint
+
+__all__ = ["CameraModule", "camera_module"]

dimos/core/global_config.py

@@ -15,10 +15,10 @@
 from abc import ABC, abstractmethod, abstractproperty
 from typing import Generic, Protocol, TypeVar
 
-from dimos_lcm.sensor_msgs import CameraInfo
 from reactivex.observable import Observable
 
 from dimos.msgs.sensor_msgs import Image
+from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo
 from dimos.protocol.service import Configurable  # type: ignore[attr-defined]
 
 

dimos/hardware/sensors/camera/module.py

@@ -22,7 +22,7 @@
 from dimos.msgs.geometry_msgs import Pose
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
 from dimos.msgs.sensor_msgs import Image
-from dimos.navigation.global_planner.astar import astar
+from dimos.navigation.replanning_a_star.min_cost_astar import min_cost_astar
 from dimos.utils.data import get_data
 
 
@@ -37,7 +37,7 @@ def test_make_path_mask(occupancy_gradient, pose_index, max_length, expected_ima
     start = Vector3(4.0, 2.0, 0)
     goal_pose = Pose(6.15, 10.0, 0, 0, 0, 0, 1)
     expected = Image.from_file(get_data(expected_image))
-    path = astar("min_cost", occupancy_gradient, goal_pose.position, start, use_cpp=False)
+    path = min_cost_astar(occupancy_gradient, goal_pose.position, start, use_cpp=False)
     path = smooth_resample_path(path, goal_pose, 0.1)
     robot_width = 0.4
     path_mask = make_path_mask(occupancy_gradient, path, robot_width, pose_index, max_length)

dimos/hardware/sensors/camera/spec.py

@@ -22,7 +22,7 @@
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
 from dimos.msgs.nav_msgs.OccupancyGrid import OccupancyGrid
 from dimos.msgs.sensor_msgs.Image import Image
-from dimos.navigation.global_planner.astar import astar
+from dimos.navigation.replanning_a_star.min_cost_astar import min_cost_astar
 from dimos.utils.data import get_data
 
 
@@ -36,7 +36,7 @@ def test_resample_path(costmap, method) -> None:
     start = Vector3(4.0, 2.0, 0)
     goal_pose = Pose(6.15, 10.0, 0, 0, 0, 0, 1)
     expected = Image.from_file(get_data(f"resample_path_{method}.png"))
-    path = astar("min_cost", costmap, goal_pose.position, start, use_cpp=False)
+    path = min_cost_astar(costmap, goal_pose.position, start, use_cpp=False)
 
     match method:
         case "simple":