dim_slam: one module wrapping the merged cuVSLAM+fusion binary - #3595
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dim_slam: one module wrapping the merged cuVSLAM+fusion binary#3595jeff-hykin wants to merge 5 commits into
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…d off The C++ module was replaced upstream by a Rust one, which moved the pose graph and loop closure downstream into the fusion filter, so enable_slam and the corrected_odometry port no longer have anything behind them. publish_tf exists because the filter publishes odom->base_link too. Two publishers on that edge race, and giving this module its own root instead leaves base_link with two parents, which is a malformed tree rather than a redundant one. Off, this publishes odometry alone and the filter owns the edge.
The Rust filter shipped in the same derivation as cuvslam_odometry but had no Python side, so nothing in dimos could run it. Every source publishes onto one sources port and is told apart by header.frame_id, which makes adding a source a config change rather than a port change. imu_init_samples carries the weight here: on a 517 s Alfred drive, leaving the raw gyro bias in costs 19.8 m of final error against 1.6 m with it removed, which is worse than fusing no IMU at all.
The Rust filter gained a use_imu switch so it can be seeded level from the first source message and coast between measurements rather than propagating on IMU. `#[native_config]` supplies no defaults and rejects unknown keys, so the Python config has to carry the field for the module to start at all. Off is worth having on Alfred: measured against point-lio over the 517 s drive, wheel and cuVSLAM fused without the IMU lands at 3.53 m, while the same pair with the IMU added lands at 71.32 m.
The native module publishes a range-gated depth_cloud and takes the gate from two
config fields. `#[native_config]` supplies no defaults and rejects unknown keys, and
the runtime rejects a module whose declared ports do not match the binary's, so
without both the field pair and the port the process died on startup every run:
failed to deserialize config: missing field `depth_cloud_min_range`
topics do not match module ports: missing ["depth_cloud"]
That killed CuvslamOdometry silently in alfred-mls-nav — the stack came up, the
remaining modules ran, and the fusion filter simply never saw a visual source. With
both in place cuvslam publishes odometry at 30 Hz on Alfred.
dimSLAM merged its two binaries into one dim_slam executable that feeds the tracker's pose into the fusion filter in-process, so the two wrapper modules collapse into one DimSlam module with the flat union of both configs. The internal visual odometry stream no longer crosses the wire; external sources still arrive on the sources input, told apart by header.frame_id.
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Stacked on #3391 (jeff/feat/cuvslam).
dim_slamexecutable (dimensionalOS/dimSLAM jeff/feat/dim_slam); the CuvslamOdometry + OdometryFusion wrappers collapse into oneDimSlammodule with the flat union of both configssources, split by header.frame_iddim-slamreplacescuvslam-odometry+odometry-fusion