`ImuInfo` like `CameraInfo` by jeff-hykin · Pull Request #3477 · dimensionalOS/dimos

jeff-hykin · 2026-08-15T01:33:10Z

need calibration/error for vslam IMU stuff

…info sensor_msgs.ImuInfo carries the Allan-variance constants (noise density and random walk for gyro and accel) plus the delivered sample rate; the IMU frame rides in the header and tf places it, exactly as CameraInfo does for cameras. IMUs cannot report a noise model at runtime (the D455 calibration table has no noise variances - verified against hardware), so the driver publishes it from config on the camera_info tick, stamping the frame and rate it knows itself. The python encoding is vendored lcm-gen output (JointCommand precedent) with the .lcm schema in the module docstring and the wire fingerprint pinned by test; the C++ binding generated from the same schema goes to dimSLAM next.

codecov · 2026-08-15T01:40:48Z

❌ 4 Tests Failed:

Tests completed	Failed	Passed	Skipped
4259	4	4255	69

View the top 2 failed test(s) by shortest run time

dimos.e2e_tests.test_dimsim_path_replaning::test_path_replanning

Stack Traces | 114s run time

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7afbe23ba1e0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7afbe1940540>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7afbe2382960>
direct_cmd_vel_explorer = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7afcea1e3dd0>
spawn_wall_on_pose = <function spawn_wall_on_pose.<locals>.spawn at 0x7afbe1940c20>

    @pytest.mark.self_hosted_large
    def test_path_replanning(
        lcm_spy, start_blueprint, dim_sim, direct_cmd_vel_explorer, spawn_wall_on_pose
    ) -> None:
        start_blueprint(
            "--dimsim-scene=empty",
            "run",
            "unitree-go2-agentic",
            simulator="dimsim",
        )
        lcm_spy.save_topic(".../McpClient/on_system_modules/res")
        lcm_spy.wait_for_saved_topic(".../McpClient/on_system_modules/res", timeout=1200.0)
    
        # robot spawns at (3, 2)
    
        # side wall
        dim_sim.add_wall(2, -2.5, 12, -2.5)
        # other side wall
        dim_sim.add_wall(2, 3.5, 12, 3.5)
        # back wall (behind robot)
        dim_sim.add_wall(2, -2.5, 2, 3.5)
        # forward wall (far end)
        dim_sim.add_wall(12, -2.5, 12, 3.5)
        # dividing wall at x=7 with doors at y=[-1.5,-0.5] and y=[1.5,2.5]
        dim_sim.add_wall(7, -2.5, 7, -1.5)
        dim_sim.add_wall(7, -0.5, 7, 1.5)
        dim_sim.add_wall(7, 2.5, 7, 3.5)
    
        direct_cmd_vel_explorer.linear_speed = 0.8
>       direct_cmd_vel_explorer.follow_points([(10, 2), (2.5, 2), (3, 2)])

dim_sim    = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7afbe2382960>
direct_cmd_vel_explorer = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7afcea1e3dd0>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7afbe23ba1e0>
spawn_wall_on_pose = <function spawn_wall_on_pose.<locals>.spawn at 0x7afbe1940c20>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7afbe1940540>

dimos/e2e_tests/test_dimsim_path_replaning.py:47: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../simulation/mujoco/direct_cmd_vel_explorer.py:105: in follow_points
    self._wait_for_pose()
        self       = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7afcea1e3dd0>
        waypoints  = [(10, 2), (2.5, 2), (3, 2)]
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7afcea1e3dd0>

    def _wait_for_pose(self) -> PoseStamped:
        self._new_pose.clear()
        self._new_pose.wait(timeout=5.0)
>       assert self._pose is not None, "No odom received"
E       AssertionError: No odom received

self       = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7afcea1e3dd0>

.../simulation/mujoco/direct_cmd_vel_explorer.py:65: AssertionError

dimos.e2e_tests.test_dimsim_walk_forward::test_walk_forward

Stack Traces | 199s run time

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7afbe3ddf080>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7afbe1941a80>
human_input = <function human_input.<locals>.send_human_input at 0x7afbe1941b20>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7afcea542c60>

    @pytest.mark.self_hosted_large
    def test_walk_forward(lcm_spy, start_blueprint, human_input, dim_sim) -> None:
        start_blueprint(
            "run",
            "--disable",
            "spatial-memory",
            "--disable",
            "security-module",
            "unitree-go2-agentic",
            simulator="dimsim",
        )
        lcm_spy.save_topic(".../McpClient/on_system_modules/res")
        lcm_spy.wait_for_saved_topic(".../McpClient/on_system_modules/res", timeout=1200.0)
    
        origin_x, origin_y = 1, 2
        dim_sim.set_agent_position(origin_x, origin_y)
    
        human_input("move forward 3 meter")
    
>       lcm_spy.wait_until_odom_position(origin_x + 3, origin_y, threshold=0.4, timeout=120)

dim_sim    = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7afcea542c60>
human_input = <function human_input.<locals>.send_human_input at 0x7afbe1941b20>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7afbe3ddf080>
origin_x   = 1
origin_y   = 2
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7afbe1941a80>

dimos/e2e_tests/test_dimsim_walk_forward.py:37: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/lcm_spy.py:167: in wait_until_odom_position
    self.wait_for_message_result(
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x7afbe19423e0>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7afbe3ddf080>
        threshold  = 0.4
        timeout    = 120
        x          = 4
        y          = 2
dimos/e2e_tests/lcm_spy.py:153: in wait_for_message_result
    wait_until(
        event      = <threading.Event at 0x7afc34c3fc80: unset>
        fail_message = 'Failed to get to position x=4, y=2'
        listener   = <function LcmSpy.wait_for_message_result.<locals>.listener at 0x7afbe19427a0>
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x7afbe19423e0>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7afbe3ddf080>
        timeout    = 120
        topic      = '/odom#geometry_msgs.PoseStamped'
        type       = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

predicate = <bound method Event.is_set of <threading.Event at 0x7afc34c3fc80: unset>>

    def wait_until(
        predicate: Callable[[], bool],
        *,
        timeout: float,
        interval: float = 0.1,
        message: str | None = None,
    ) -> None:
        """Poll ``predicate`` until it returns truthy or ``timeout`` elapses."""
        deadline = time.monotonic() + timeout
        while time.monotonic() < deadline:
            if predicate():
                return
            time.sleep(interval)
>       raise TimeoutError(message or f"Timed out after {timeout}s waiting for condition")
E       TimeoutError: Failed to get to position x=4, y=2

deadline   = 3230434.952645156
interval   = 0.1
message    = 'Failed to get to position x=4, y=2'
predicate  = <bound method Event.is_set of <threading.Event at 0x7afc34c3fc80: unset>>
timeout    = 120

.../utils/testing/waiting.py:35: TimeoutError

View the full list of 2 ❄️ flaky test(s)

dimos.e2e_tests.test_dimsim_spatial_memory::test_go_to_the_bed

Flake rate in main: 16.67% (Passed 125 times, Failed 25 times)

Stack Traces | 106s run time

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7afcea5ba4e0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7afbe1941620>
human_input = <function human_input.<locals>.send_human_input at 0x7afbe1941800>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7afbe3dbaed0>
explore_house = <function explore_house.<locals>.explore at 0x7afbe1941ee0>

    @pytest.mark.self_hosted_large
    def test_go_to_the_bed(lcm_spy, start_blueprint, human_input, dim_sim, explore_house) -> None:
        start_blueprint(
            "run",
            "unitree-go2-agentic",
            simulator="dimsim",
        )
        lcm_spy.save_topic(".../McpClient/on_system_modules/res")
        lcm_spy.wait_for_saved_topic(".../McpClient/on_system_modules/res", timeout=1200.0)
    
>       explore_house()

dim_sim    = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7afbe3dbaed0>
explore_house = <function explore_house.<locals>.explore at 0x7afbe1941ee0>
human_input = <function human_input.<locals>.send_human_input at 0x7afbe1941800>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7afcea5ba4e0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7afbe1941620>

dimos/e2e_tests/test_dimsim_spatial_memory.py:28: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/conftest.py:249: in explore
    direct_cmd_vel_explorer.follow_points(points)
        direct_cmd_vel_explorer = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7afbe3df03b0>
        points     = [(3.881, 4.803), (4.16, 1.615), (1.596, 1.505), (1.649, 0.137), (-3.644, -0.064), (-3.759, -2.661), ...]
.../simulation/mujoco/direct_cmd_vel_explorer.py:105: in follow_points
    self._wait_for_pose()
        self       = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7afbe3df03b0>
        waypoints  = [(3.881, 4.803), (4.16, 1.615), (1.596, 1.505), (1.649, 0.137), (-3.644, -0.064), (-3.759, -2.661), ...]
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7afbe3df03b0>

    def _wait_for_pose(self) -> PoseStamped:
        self._new_pose.clear()
        self._new_pose.wait(timeout=5.0)
>       assert self._pose is not None, "No odom received"
E       AssertionError: No odom received

self       = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7afbe3df03b0>

.../simulation/mujoco/direct_cmd_vel_explorer.py:65: AssertionError

dimos.e2e_tests.test_manipulation_planning_groups::test_single_arm_plans_and_executes_through_control_coordinator

Flake rate in main: 100.00% (Passed 0 times, Failed 1 times)

Stack Traces | 138s run time

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7afbe239e090>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7afbe19425c0>

    def test_single_arm_plans_and_executes_through_control_coordinator(
        lcm_spy: LcmSpy,
        start_blueprint: Callable[..., DimosCliCall],
    ) -> None:
        """Plan with one arm and execute through its trajectory task."""
        _start_openarm_mock_planner(start_blueprint, lcm_spy)
    
        client = RPCClient(None, ManipulationModule)
        coordinator_client = RPCClient(None, ControlCoordinator)
        try:
>           [left] = _wait_for_groups(client, 1)

client     = <dimos.core.rpc_client.RPCClient object at 0x7afc4080e120>
coordinator_client = <dimos.core.rpc_client.RPCClient object at 0x7afbe1f47830>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7afbe239e090>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7afbe19425c0>

dimos/e2e_tests/test_manipulation_planning_groups.py:158: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

client = <dimos.core.rpc_client.RPCClient object at 0x7afc4080e120>, count = 1

    def _wait_for_groups(
        client: RPCClient,
        count: int,
        *,
        timeout: float = 120.0,
    ) -> tuple[PlanningGroupInfo, ...]:
        deadline = time.time() + timeout
        last_error: BaseException | None = None
        while time.time() < deadline:
            try:
                groups = client.list_planning_groups()
                if len(groups) == count:
                    return groups
            except Exception as exc:
                last_error = exc
            time.sleep(0.5)
>       raise TimeoutError(f"Timed out waiting for {count} planning groups") from last_error
E       TimeoutError: Timed out waiting for 1 planning groups

client     = <dimos.core.rpc_client.RPCClient object at 0x7afc4080e120>
count      = 1
deadline   = 1786761490.1131995
groups     = (PlanningGroupInfo('left_arm/manipulator', joints=('left_arm/openarm_left_joint1', 'left_arm/openarm_left_joint2', 'le...right_joint6', 'right_arm/openarm_right_joint7'), base='openarm_body_link0', tip='openarm_right_link7', gripper=False))
last_error = None
timeout    = 120.0

dimos/e2e_tests/test_manipulation_planning_groups.py:64: TimeoutError

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jeff-hykin requested review from Dreamsorcerer, leshy, mustafab0, paul-nechifor and spomichter as code owners August 15, 2026 01:33

github-actions Bot added the ready-to-merge Required CI checks have passed on this PR label Aug 15, 2026

jeff-hykin mentioned this pull request Aug 15, 2026

cuvslam: IMU noise model from the imu_info stream dimensionalOS/dimSLAM#1

Merged

jeff-hykin changed the title ~~ImuInfo: IMU noise model published like camera_info~~ ImuInfo like CameraInfo Aug 15, 2026

drop the ImuInfo test

73f7360

github-actions Bot removed the ready-to-merge Required CI checks have passed on this PR label Aug 15, 2026

trim the imu_info config comment

1c538a4

github-actions Bot added the ready-to-merge Required CI checks have passed on this PR label Aug 15, 2026

leshy approved these changes Aug 15, 2026

View reviewed changes

leshy merged commit 1c6dade into jeff/feat/stereo_prep Aug 15, 2026
25 of 28 checks passed

leshy deleted the jeff/feat/imu_info branch August 15, 2026 08:26

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`ImuInfo` like `CameraInfo` - #3477

`ImuInfo` like `CameraInfo`#3477
leshy merged 3 commits into
jeff/feat/stereo_prepfrom
jeff/feat/imu_info

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❌ 4 Tests Failed:

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jeff-hykin commented Aug 15, 2026 •

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