Run DimOS and ROS nav in Docker

dimos/navigation/demo_ros_navigation.py

@@ -0,0 +1,72 @@
+# 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.
+
+import time
+
+import rclpy
+
+from dimos import core
+from dimos.msgs.geometry_msgs import PoseStamped, Quaternion, Twist, Vector3
+from dimos.msgs.nav_msgs import Path
+from dimos.msgs.sensor_msgs import PointCloud2
+from dimos.navigation.rosnav import ROSNav
+from dimos.protocol import pubsub
+from dimos.utils.logging_config import setup_logger
+
+logger = setup_logger(__file__)
+
+
+def main() -> None:
+    pubsub.lcm.autoconf()
+    dimos = core.start(2)
+
+    ros_nav = dimos.deploy(ROSNav)
+
+    ros_nav.goal_req.transport = core.LCMTransport("/goal", PoseStamped)
+    ros_nav.pointcloud.transport = core.LCMTransport("/pointcloud_map", PointCloud2)
+    ros_nav.global_pointcloud.transport = core.LCMTransport("/global_pointcloud", PointCloud2)
+    ros_nav.goal_active.transport = core.LCMTransport("/goal_active", PoseStamped)
+    ros_nav.path_active.transport = core.LCMTransport("/path_active", Path)
+    ros_nav.cmd_vel.transport = core.LCMTransport("/cmd_vel", Twist)
+
+    ros_nav.start()
+
+    logger.info("\nTesting navigation in 2 seconds...")
+    time.sleep(2)
+
+    test_pose = PoseStamped(
+        ts=time.time(),
+        frame_id="map",
+        position=Vector3(2.0, 2.0, 0.0),
+        orientation=Quaternion(0.0, 0.0, 0.0, 1.0),
+    )
+
+    logger.info("Sending navigation goal to: (2.0, 2.0, 0.0)")
+    success = ros_nav.navigate_to(test_pose, timeout=30.0)
+    logger.info(f"Navigated successfully: {success}")
+
+    try:
+        logger.info("\nNavBot running. Press Ctrl+C to stop.")
+        while True:
+            time.sleep(1)
+    except KeyboardInterrupt:
+        logger.info("\nShutting down...")
+        ros_nav.stop()
+
+        if rclpy.ok():
+            rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

dimos/navigation/rosnav.py

@@ -19,7 +19,7 @@
 """
 
 from collections.abc import Generator
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 import logging
 import threading
 import time
@@ -64,8 +64,8 @@
 class Config(ModuleConfig):
     local_pointcloud_freq: float = 2.0
     global_pointcloud_freq: float = 1.0
-    sensor_to_base_link_transform: Transform = Transform(
-        frame_id="sensor", child_frame_id="base_link"
+    sensor_to_base_link_transform: Transform = field(
+        default_factory=lambda: Transform(frame_id="sensor", child_frame_id="base_link")
     )
 
 

dimos/protocol/rpc/spec.py

@@ -44,7 +44,7 @@ def call(self, name: str, arguments: Args, cb: Callable | None) -> Callable[[],
     # we expect to crash if we don't get a return value after 10 seconds
     # but callers can override this timeout for extra long functions
     def call_sync(
-        self, name: str, arguments: Args, rpc_timeout: float | None = 30.0
+        self, name: str, arguments: Args, rpc_timeout: float | None = 120.0
     ) -> tuple[Any, Callable[[], None]]:
         event = threading.Event()
 

docker/navigation/.env.hardware

@@ -0,0 +1,59 @@
+# Hardware Configuration Environment Variables
+# Copy this file to .env and customize for your hardware setup
+
+# ============================================
+# NVIDIA GPU Support
+# ============================================
+# Set the Docker runtime to nvidia for GPU support (it's runc by default)
+#DOCKER_RUNTIME=nvidia
+
+# ============================================
+# ROS Configuration
+# ============================================
+# ROS domain ID for multi-robot setups
+ROS_DOMAIN_ID=42
+
+# Robot configuration ('mechanum_drive', 'unitree/unitree_g1', 'unitree/unitree_g1', etc)
+ROBOT_CONFIG_PATH=mechanum_drive
+
+# ============================================
+# Mid-360 Lidar Configuration
+# ============================================
+# Network interface connected to the lidar (e.g., eth0, enp0s3)
+# Find with: ip addr show
+LIDAR_INTERFACE=eth0
+
+# Processing computer IP address on the lidar subnet
+# Must be on the same subnet as the lidar (e.g., 192.168.1.5)
+# LIDAR_COMPUTER_IP=192.168.123.5 # FOR UNITREE G1 EDU
+LIDAR_COMPUTER_IP=192.168.1.5
+
+# Gateway IP address for the lidar subnet
+# LIDAR_GATEWAY=192.168.123.1 # FOR UNITREE G1 EDU
+LIDAR_GATEWAY=192.168.1.1
+
+# Full IP address of your Mid-360 lidar
+# This should match the IP configured on your lidar device
+# Common patterns: 192.168.1.1XX or 192.168.123.1XX
+# LIDAR_IP=192.168.123.120 # FOR UNITREE G1 EDU
+LIDAR_IP=192.168.1.116
+
+# ============================================
+# Motor Controller Configuration
+# ============================================
+# Serial device for motor controller
+# Check with: ls /dev/ttyACM* or ls /dev/ttyUSB*
+MOTOR_SERIAL_DEVICE=/dev/ttyACM0
+
+# ============================================
+# Network Communication (for base station)
+# ============================================
+# Enable WiFi buffer optimization for data transmission
+# Set to true if using wireless base station
+ENABLE_WIFI_BUFFER=false
+
+# ============================================
+# Display Configuration
+# ============================================
+# X11 display (usually auto-detected)
+# DISPLAY=:0

docker/navigation/.gitignore

@@ -0,0 +1,20 @@
+# Cloned repository
+ros-navigation-autonomy-stack/
+
+# Unity models (large binary files)
+unity_models/
+
+# ROS bag files
+bagfiles/
+
+# Config files (may contain local settings)
+config/
+
+# Docker volumes
+.docker/
+
+# Temporary files
+*.tmp
+*.log
+*.swp
+*~