odom ts parsing

[leshy]

parses ts from raw go2 msgs for odom

[chatgpt-codex-connector]

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[greptile-apps]

Greptile Summary

Enabled proper timestamp parsing from raw Go2 odometry messages by using to_timestamp() instead of time.time(). This change ensures odometry data uses robot-provided timestamps rather than local system time, which is critical for accurate sensor synchronization with lidar and video streams when using find_closest() operations.

Key Changes:

• Replaced ts = time.time() with ts = to_timestamp(msg["data"]["header"]["stamp"])
• Added import for to_timestamp from dimos.types.timestamped
• Removed outdated comment about timestamp unavailability
• Enables proper temporal alignment of multi-sensor data for SLAM and perception tasks

Confidence Score: 5/5

• This PR is safe to merge with no concerns
• The change is minimal, well-scoped, and fixes a critical issue with timestamp handling. The to_timestamp() function already has proper error handling for the dict format with sec/nanosec fields, and existing tests confirm the message format is correct. This enables proper sensor synchronization which is essential for robotics applications.
• No files require special attention

Important Files Changed

Filename	Overview
dimos/robot/unitree_webrtc/type/odometry.py	Correctly parses timestamps from raw odometry messages for proper sensor synchronization

Sequence Diagram

sequenceDiagram
    participant Robot as Unitree Robot
    participant RawMsg as Raw Odometry Message
    participant FromMsg as Odometry.from_msg()
    participant ToTimestamp as to_timestamp()
    participant Odom as Odometry Object
    participant Sync as Sensor Synchronization

    Robot->>RawMsg: Send odometry data<br/>{header: {stamp: {sec, nanosec}}}
    RawMsg->>FromMsg: Parse message
    FromMsg->>ToTimestamp: msg["data"]["header"]["stamp"]
    ToTimestamp-->>FromMsg: Convert to float timestamp<br/>(sec + nanosec/1e9)
    FromMsg->>Odom: Create with robot timestamp
    Odom->>Sync: Used for find_closest()<br/>with lidar/video data

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