feat(nav): add clicked_point input to replanning planner and rerun clicking blueprint by spomichter · Pull Request #1394 · dimensionalOS/dimos

spomichter · 2026-03-01T17:14:36Z

adds clicked_point: In[PointStamped] to ReplanningAStarPlanner. subscribes and converts to PoseStamped via .to_pose_stamped(), feeds to existing goal handler.

what

3 lines of code in the planner module — no new modules, no new blueprints, no custom transports.

why

the rerun viewer fork (dimensionalOS/dimos-viewer#1) publishes click coordinates as PointStamped to /clicked_point via LCM. this lets the planner receive those clicks as navigation goals.

usage

any blueprint using the planner can wire it:

blueprint.transports({
    ("clicked_point", PointStamped): LCMTransport("/clicked_point", PointStamped),
})

To run with rerun manually compiled binary: dimos --simulation --viewer-backend rerun-connect run unitree-go2-click-nav

depends on

feat(msgs): add PointStamped geometry message type #1388 (PointStamped type + Point wrapper)

part of DIM-643

greptile-apps · 2026-03-01T17:19:43Z

Greptile Summary

This PR adds PointStamped message type support and wires it into ReplanningAStarPlanner to enable click-to-navigate functionality from the Rerun viewer.

Key changes:

Introduces Point and PointStamped message types following the existing pattern of TwistStamped and PoseStamped (inheriting from base type + Timestamped mixin)
PointStamped.to_pose_stamped() converts clicked points to navigation goals with identity orientation
Planner module adds clicked_point: In[PointStamped] input and subscribes to convert incoming clicks to PoseStamped goals
Comprehensive test coverage for LCM encoding/decoding and conversion logic
Uses ros_timestamp() from Timestamped mixin, consistent with modern codebase patterns

Implementation quality:

Clean implementation following established patterns
Proper disposal management for subscriptions
Well-tested with roundtrip encoding tests
No breaking changes to existing functionality

Confidence Score: 5/5

This PR is safe to merge with no issues found
Clean implementation following existing patterns (PoseStamped, TwistStamped), proper test coverage, no breaking changes, correct disposal management, and straightforward integration with existing goal handler
No files require special attention

Important Files Changed

Filename	Overview
dimos/msgs/geometry_msgs/PointStamped.py	implements PointStamped message type with LCM encoding/decoding and to_pose_stamped conversion
dimos/msgs/geometry_msgs/test_PointStamped.py	comprehensive tests for PointStamped LCM roundtrip and PoseStamped conversion
dimos/navigation/replanning_a_star/module.py	adds clicked_point input stream and subscribes to convert clicks to navigation goals

Sequence Diagram

sequenceDiagram
    participant Rerun as Rerun Viewer
    participant LCM as LCM Transport
    participant Planner as ReplanningAStarPlanner
    participant Handler as GlobalPlanner.handle_goal_request

    Rerun->>LCM: publish PointStamped to /clicked_point
    LCM->>Planner: clicked_point.subscribe()
    Planner->>Planner: pt.to_pose_stamped()
    Note over Planner: converts PointStamped to PoseStamped<br/>with identity quaternion [0,0,0,1]
    Planner->>Handler: handle_goal_request(pose_stamped)
    Note over Handler: processes navigation goal

_{Last reviewed commit: 5f9845e}

greptile-apps

_{5 files reviewed, no comments}

_{Edit Code Review Agent Settings | Greptile}

subscribe to PointStamped clicks from rerun viewer, convert to PoseStamped via .to_pose_stamped() and feed to goal handler. wire with: LCMTransport("/clicked_point", PointStamped) DIM-643

runs Go2 smart blueprint with viewer_mode=none, connects to custom rerun viewer on gRPC port 9877, wires /clicked_point LCM transport to planner's clicked_point input. DIM-643

supports --simulation (mujoco), --robot-ip, --viewer-url args

rr.init + rr.connect_grpc must happen before the bridge starts, otherwise rerun disables itself with no active sink

the bridge calls rr.init('dimos') in start(). calling rr.init before that resets the recording stream. now we connect_grpc after start() so the bridge's rr.init creates the stream, then we add our gRPC sink.

the bridge runs in a worker subprocess (multiprocessing), so its rr.init() only affects that subprocess. the main process needs its own rr.init() + connect_grpc() for data to reach the viewer. also adds --replay flag for headless testing.

adds connect mode to rerun bridge — connects to an external viewer via grpc instead of spawning a new one. needed for custom viewers like the click-to-navigate fork. example script now works like a normal blueprint. DIM-643

proper blueprint registered in all_blueprints. run with: dimos run unitree-go2-click-nav --simulation --viewer-backend rerun-connect adds rerun-connect viewer backend that connects to an external rerun viewer (custom fork) instead of spawning a new one. DIM-643

paul-nechifor · 2026-03-03T22:24:40Z

dimos/robot/unitree/go2/blueprints/smart/unitree_go2_click_nav.py

+    .transports(
+        {
+            ("clicked_point", PointStamped): LCMTransport("/clicked_point", PointStamped),
+        }
+    )


No need for this since it's the default.

Suggested change

.transports(

{

("clicked_point", PointStamped): LCMTransport("/clicked_point", PointStamped),

}

)

just for visability

…icking blueprint (dimensionalOS#1394) * feat(nav): add clicked_point input to replanning planner subscribe to PointStamped clicks from rerun viewer, convert to PoseStamped via .to_pose_stamped() and feed to goal handler. wire with: LCMTransport("/clicked_point", PointStamped) DIM-643 * feat(examples): add rerun click-to-navigate test script runs Go2 smart blueprint with viewer_mode=none, connects to custom rerun viewer on gRPC port 9877, wires /clicked_point LCM transport to planner's clicked_point input. DIM-643 * fix(examples): add --simulation flag to click test supports --simulation (mujoco), --robot-ip, --viewer-url args * fix(examples): init rerun and connect grpc before coordinator.start rr.init + rr.connect_grpc must happen before the bridge starts, otherwise rerun disables itself with no active sink * fix(examples): connect grpc after bridge start to avoid double rr.init the bridge calls rr.init('dimos') in start(). calling rr.init before that resets the recording stream. now we connect_grpc after start() so the bridge's rr.init creates the stream, then we add our gRPC sink. * fix(examples): init rerun in main process before connect_grpc the bridge runs in a worker subprocess (multiprocessing), so its rr.init() only affects that subprocess. the main process needs its own rr.init() + connect_grpc() for data to reach the viewer. also adds --replay flag for headless testing. * feat(rerun): add viewer_mode=connect for external viewer support adds connect mode to rerun bridge — connects to an external viewer via grpc instead of spawning a new one. needed for custom viewers like the click-to-navigate fork. example script now works like a normal blueprint. DIM-643 * fix(examples): use build().loop() per readme convention * feat(blueprints): add unitree-go2-click-nav blueprint proper blueprint registered in all_blueprints. run with: dimos run unitree-go2-click-nav --simulation --viewer-backend rerun-connect adds rerun-connect viewer backend that connects to an external rerun viewer (custom fork) instead of spawning a new one. DIM-643

leshy previously approved these changes Mar 1, 2026

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greptile-apps bot reviewed Mar 1, 2026

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spomichter dismissed leshy’s stale review via 06b4186 March 1, 2026 17:32

spomichter force-pushed the feat/click-to-nav branch from 12e95bf to 63e1d53 Compare March 1, 2026 22:26

spomichter requested a review from leshy March 2, 2026 22:07

spomichter changed the base branch from dev to main March 3, 2026 20:09

spomichter changed the base branch from main to dev March 3, 2026 20:09

spomichter added 9 commits March 3, 2026 12:22

feat(nav): add clicked_point input to replanning planner

0acf375

subscribe to PointStamped clicks from rerun viewer, convert to PoseStamped via .to_pose_stamped() and feed to goal handler. wire with: LCMTransport("/clicked_point", PointStamped) DIM-643

feat(examples): add rerun click-to-navigate test script

5594368

runs Go2 smart blueprint with viewer_mode=none, connects to custom rerun viewer on gRPC port 9877, wires /clicked_point LCM transport to planner's clicked_point input. DIM-643

fix(examples): add --simulation flag to click test

60c3a8f

supports --simulation (mujoco), --robot-ip, --viewer-url args

fix(examples): init rerun and connect grpc before coordinator.start

6fef8df

rr.init + rr.connect_grpc must happen before the bridge starts, otherwise rerun disables itself with no active sink

fix(examples): connect grpc after bridge start to avoid double rr.init

17f8c86

the bridge calls rr.init('dimos') in start(). calling rr.init before that resets the recording stream. now we connect_grpc after start() so the bridge's rr.init creates the stream, then we add our gRPC sink.

fix(examples): use build().loop() per readme convention

d507ecf

spomichter force-pushed the feat/click-to-nav branch from 63e1d53 to 5df284c Compare March 3, 2026 20:31

spomichter changed the title ~~feat(nav): add clicked_point input to replanning planner~~ feat(nav): add clicked_point input to replanning planner and rerun clicking blueprint Mar 3, 2026

paul-nechifor reviewed Mar 3, 2026

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paul-nechifor approved these changes Mar 3, 2026

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spomichter merged commit 78a0779 into dev Mar 4, 2026
24 checks passed

spomichter deleted the feat/click-to-nav branch March 4, 2026 04:59

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feat(nav): add clicked_point input to replanning planner and rerun clicking blueprint #1394

feat(nav): add clicked_point input to replanning planner and rerun clicking blueprint #1394
spomichter merged 9 commits intodevfrom
feat/click-to-nav

spomichter commented Mar 1, 2026 •

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spomichter commented Mar 1, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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what

why

usage

depends on

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greptile-apps bot commented Mar 1, 2026

Greptile Summary

Confidence Score: 5/5

Important Files Changed

Sequence Diagram

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spomichter commented Mar 1, 2026 •

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