FAST-LIO pcap record/replay + Virtual Livox

dimos/control/blueprints/mobile.py

@@ -34,9 +34,6 @@
 from dimos.control.coordinator import ControlCoordinator, TaskConfig
 from dimos.core.coordination.blueprints import autoconnect
 from dimos.hardware.sensors.lidar.fastlio2.module import FastLio2
-from dimos.msgs.geometry_msgs.Pose import Pose
-from dimos.msgs.geometry_msgs.Quaternion import Quaternion
-from dimos.msgs.geometry_msgs.Vector3 import Vector3
 from dimos.navigation.movement_manager.movement_manager import MovementManager
 from dimos.navigation.nav_stack.main import create_nav_stack, nav_stack_rerun_config
 from dimos.robot.catalog.ufactory import xarm7 as _catalog_xarm7
@@ -120,16 +117,11 @@ def _flowbase_twist_base(
 # FlowBase + Livox MID-360 + FastLio2 SLAM + nav stack with click-to-drive in Rerun. The velocity
 # sink is ControlCoordinator + FlowBaseAdapter
 
-_flowbase_mid360_mount = Pose(0.20, -0.20, 0.10, *Quaternion.from_euler(Vector3(0, 0, 0)))
-
 coordinator_flowbase_nav = (
     autoconnect(
         FastLio2.blueprint(
             host_ip=os.getenv("LIDAR_HOST_IP", "192.168.1.5"),
             lidar_ip=os.getenv("LIDAR_IP", "192.168.1.189"),
-            mount=_flowbase_mid360_mount,
-            map_freq=1.0,
-            config="default.yaml",
         ),
         create_nav_stack(
             planner="simple",
@@ -181,7 +173,6 @@ def _flowbase_twist_base(
     .remappings(
         [
             (FastLio2, "lidar", "registered_scan"),
-            (FastLio2, "global_map", "global_map_fastlio"),
             # SimplePlanner / FarPlanner owns way_point — disconnect MovementManager's
             # redundant pass-through copy (matches unitree-g1-nav-onboard).
             (MovementManager, "way_point", "_mgr_way_point_unused"),

dimos/hardware/drive_trains/flowbase/config.py

@@ -0,0 +1,22 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""FlowBase platform constants."""
+
+from dimos.msgs.geometry_msgs.Pose import Pose
+from dimos.msgs.geometry_msgs.Quaternion import Quaternion
+from dimos.msgs.geometry_msgs.Vector3 import Vector3
+
+# Mid-360 mount pose on the FlowBase (position + orientation) in the base frame.
+FLOWBASE_MID360_MOUNT = Pose(0.20, -0.20, 0.10, *Quaternion.from_euler(Vector3(0, 0, 0)))

dimos/hardware/sensors/lidar/fastlio2/cpp/CMakeLists.txt

@@ -57,9 +57,6 @@ find_package(Eigen3 REQUIRED)
 # PCL (only components we need — avoid full PCL which drags in VTK via io)
 find_package(PCL 1.8 REQUIRED COMPONENTS common filters)
 
-# yaml-cpp (FAST-LIO config parsing — standard YAML format)
-find_package(yaml-cpp REQUIRED)
-
 # Livox SDK2 (from nix or /usr/local fallback)
 find_library(LIVOX_SDK livox_lidar_sdk_shared)
 if(NOT LIVOX_SDK)
@@ -96,7 +93,6 @@ target_link_libraries(fastlio2_native PRIVATE
   ${LCM_LIBRARIES}
   ${LIVOX_SDK}
   ${PCL_LIBRARIES}
-  yaml-cpp::yaml-cpp
 )
 
 if(OpenMP_CXX_FOUND)