feat: go2 3d nav

dimos/core/global_config.py

@@ -73,6 +73,9 @@ class GlobalConfig(BaseSettings):
         env_file=".env",
         env_file_encoding="utf-8",
         extra="ignore",
+        # Coerce on assignment so string overrides from the CLI (-o g.field=val)
+        # and env become real typed values instead of raw strings.
+        validate_assignment=True,
     )
 
     def update(self, **kwargs: object) -> None:

dimos/hardware/sensors/lidar/fastlio2/cpp/config/mid360.json

@@ -11,7 +11,7 @@
     "blind": 1
   },
   "mapping": {
-    "acc_cov": 0.1,
+    "acc_cov": 1.0,
     "gyr_cov": 0.1,
     "b_acc_cov": 0.0001,
     "b_gyr_cov": 0.0001,

dimos/mapping/ray_tracing/module.py

@@ -19,6 +19,7 @@
 
 from dimos.core.native_module import NativeModule, NativeModuleConfig
 from dimos.core.stream import In, Out
+from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.nav_msgs.Odometry import Odometry
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 from dimos.spec import mapping
@@ -47,17 +48,31 @@ class RayTracingVoxelMapConfig(NativeModuleConfig):
     graze_cos: float = 0.7
     # Only spare a voxel whose neighborhood was hit within this many frames.
     recency_window: int = 15
+    # Integrate every frame, publish the local map and region bounds every
+    # Nth frame. Zero disables them.
+    emit_every: int = 1
+    # Publish the global map every Nth frame. Zero disables it.
+    global_emit_every: int = 1
+    # Size the local region to this percentile of batch point distances,
+    # so a stray far hit cannot inflate the region the planner recomputes.
+    region_percentile: float = 95.0
 
 
 class RayTracingVoxelMap(NativeModule, mapping.GlobalPointcloud):
-    """Rust voxel-map module with raycast clearing of dynamic objects."""
+    """Rust voxel-map module with raycast clearing of dynamic objects.
+
+    region_bounds describes the cylinder local_map covers, packed into a
+    PoseStamped. Position holds the center. Orientation holds radius, z_min,
+    z_max, and zero. It shares the local_map stamp.
+    """
 
     config: RayTracingVoxelMapConfig
 
     lidar: In[PointCloud2]
     odometry: In[Odometry]
     global_map: Out[PointCloud2]
     local_map: Out[PointCloud2]
+    region_bounds: Out[PoseStamped]
 
 
 # Verify protocol port compliance (mypy will flag missing ports)

dimos/mapping/ray_tracing/rust/Cargo.toml

@@ -21,6 +21,8 @@ lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "r
 tokio = { version = "1", features = ["rt-multi-thread", "macros", "signal"] }
 serde = { version = "1", features = ["derive"] }
 ahash = "0.8"
+arrayvec = "0.7"
+rayon = "1"
 tracing = "0.1"
 pyo3 = { version = "0.25", features = ["extension-module", "abi3-py310"] }
 numpy = "0.25"

dimos/mapping/ray_tracing/rust/flake.nix

@@ -34,7 +34,7 @@
           cargoRoot = "dimos/mapping/ray_tracing/rust";
           buildAndTestSubdir = "dimos/mapping/ray_tracing/rust";
 
-          cargoHash = "sha256-g30NaoLdtWT5YBsEnE4Xv+EMnI5HHFtZAUtdEL/VbKQ=";
+          cargoHash = "sha256-0d0dlNDvDplA7oWTyUWOCOlS74Zie8uMQ+ps6lXntOI=";
 
           meta.mainProgram = "voxel_ray_tracing";
         };