Navspec

dimos/mapping/spec.py

@@ -0,0 +1,31 @@
+# Copyright 2025 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.
+
+from typing import Protocol
+
+from dimos.core import Out
+from dimos.msgs.nav_msgs import OccupancyGrid
+from dimos.msgs.sensor_msgs import PointCloud2
+
+
+class Global3DMapSpec(Protocol):
+    global_pointcloud: Out[PointCloud2]
+
+
+class GlobalMapSpec(Protocol):
+    global_map: Out[OccupancyGrid]
+
+
+class GlobalCostmapSpec(Protocol):
+    global_costmap: Out[OccupancyGrid]

dimos/navigation/rosnav.py

@@ -0,0 +1,39 @@
+# Copyright 2025 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.
+
+from dimos.core import In, Module, Out
+from dimos.msgs.geometry_msgs import PoseStamped, Twist
+from dimos.msgs.nav_msgs import Path
+from dimos.msgs.sensor_msgs import PointCloud2
+
+
+class ROSNav(Module):
+    goal_req: In[PoseStamped] = None  # type: ignore
+    goal_active: Out[PoseStamped] = None  # type: ignore
+    path_active: Out[Path] = None  # type: ignore
+    ctrl: Out[Twist] = None  # type: ignore
+
+    # PointcloudPerception attributes
+    pointcloud: Out[PointCloud2] = None  # type: ignore
+
+    # Global3DMapSpec attributes
+    global_pointcloud: Out[PointCloud2] = None  # type: ignore
+
+    def navigate_to_target(self, target: PoseStamped) -> None:
+        # TODO: Implement navigation logic
+        pass
+
+    def stop_navigating(self) -> None:
+        # TODO: Implement stop logic
+        pass

dimos/navigation/spec.py

@@ -0,0 +1,31 @@
+# Copyright 2025 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.
+
+from typing import Protocol
+
+from dimos.core import In, Out
+from dimos.msgs.geometry_msgs import PoseStamped, Twist
+from dimos.msgs.nav_msgs import Path
+
+
+class NavSpec(Protocol):
+    goal_req: In[PoseStamped]
+    goal_active: Out[PoseStamped]
+    path_active: Out[Path]
+    ctrl: Out[Twist]
+
+    # identity quaternion (Quaternion(0,0,0,1)) represents "no rotation requested"
+    def navigate_to_target(self, target: PoseStamped) -> None: ...
+
+    def stop_navigating(self) -> None: ...

dimos/navigation/test_rosnav.py

@@ -0,0 +1,37 @@
+# Copyright 2025 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.
+
+from typing import Protocol
+
+from dimos.mapping.spec import Global3DMapSpec
+from dimos.navigation.rosnav import ROSNav
+from dimos.navigation.spec import NavSpec
+from dimos.perception.spec import PointcloudPerception
+
+
+class RosNavSpec(NavSpec, PointcloudPerception, Global3DMapSpec, Protocol):
+    """Combined protocol for navigation components."""
+
+    pass
+
+
+def accepts_combined_protocol(nav: RosNavSpec) -> None:
+    """Function that accepts all navigation protocols at once."""
+    pass
+
+
+def test_typing_prototypes():
+    """Test that ROSNav correctly implements all required protocols."""
+    rosnav = ROSNav()
+    accepts_combined_protocol(rosnav)

dimos/perception/spec.py

@@ -0,0 +1,22 @@
+# Copyright 2025 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.
+
+from typing import Protocol
+
+from dimos.core import Out
+from dimos.msgs.sensor_msgs import PointCloud2
+
+
+class PointcloudPerception(Protocol):
+    pointcloud: Out[PointCloud2]