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💡 Codex Review
dimos/dimos/robot/unitree_webrtc/unitree_g1.py
Lines 338 to 344 in a2750ed
G1 connection still expects TwistStamped despite interface change
G1ConnectionModule was updated to accept In[Twist] and forwards the Twist directly to UnitreeWebRTCConnection.move, but _deploy_connection still connects the input to an LCM transport that deserializes TwistStamped. At runtime the connection’s move method will receive a TwistStamped instance (which lacks .linear/.angular at the top level), raising attribute errors and preventing motion commands. The transport should now publish Twist messages to match the updated module signature.
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| def deploy(dimos: DimosCluster): | ||
| nav = dimos.deploy(ROSNav) | ||
| nav.pointcloud.transport = pSHMTransport("/lidar") | ||
| nav.global_pointcloud.transport = pSHMTransport("/map") | ||
| # nav.pointcloud.transport = LCMTransport("/lidar", PointCloud2) | ||
| # nav.global_pointcloud.transport = LCMTransport("/map", PointCloud2) | ||
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| nav.goal_req.transport = LCMTransport("/goal_req", PoseStamped) | ||
| nav.goal_active.transport = LCMTransport("/goal_active", PoseStamped) | ||
| nav.path_active.transport = LCMTransport("/path_active", Path) | ||
| nav.cmd_vel.transport = LCMTransport("/cmd_vel", TwistStamped) |
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The new deploy helper instantiates ROSNav and wires its transports, but ROSNav is just a stub with empty start/stop methods. None of the ROS2 subscriptions or conversions implemented in ROSNavigationModule are created, so calling this function produces a module that never bridges the robot topics. In the same block cmd_vel is bound to LCMTransport(..., TwistStamped) even though ROSNavigationModule.cmd_vel publishes Twist, which will cause serialization/type errors when a command is emitted. Use ROSNavigationModule here and keep the transport type consistent with the module’s Out[Twist] output.
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Closed in favor of #724 . That PR contains the g1 blueprints, some fixes and adds the G1 sim. |
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