feat(msgs): add PointStamped geometry message type

[spomichter]

adds geometry_msgs.PointStamped following the PoseStamped pattern.

what

new message type for 3d point coordinates with timestamp and frame_id. follows the rviz /clicked_point convention.

why

the rerun viewer fork (dimensionalOS/rerun#1) publishes click coordinates as PointStamped via LCM to /clicked_point. this type lets any dimos module subscribe natively via LCMTransport("/clicked_point", PointStamped) and convert to PoseStamped for navigation.

changes

file	what
PointStamped.py	dimos msg type — inherits from dimos_lcm + Timestamped
test_PointStamped.py	30 unit tests
__init__.py	export PointStamped

features

• plum.dispatch constructors: (x,y,z), (Vector3), ([list]), (kwargs)
• lcm_encode() / lcm_decode() — binary roundtrip
• to_rerun() → rr.Points3D
• to_pose_stamped() → PoseStamped with identity orientation
• conforms to DimosMsg protocol
• Timestamped mixin (ts, frame_id)

usage

from dimos.msgs.geometry_msgs import PointStamped

# construct
pt = PointStamped(1.5, 2.5, 3.5, frame_id="/world/grid")

# convert to nav goal
pose = pt.to_pose_stamped()

# subscribe via LCM (from rerun viewer clicks)
from dimos.core.transport import LCMTransport
transport = LCMTransport("/clicked_point", PointStamped)

tests

30 passed in 2.02s

DIM-643

[greptile-apps]

Greptile Summary

This PR adds PointStamped and Point message types to the geometry_msgs module, enabling 3D point coordinates with timestamps and frame IDs. The implementation follows a simplified architecture where Point inherits directly from LCMPoint and PointStamped uses multiple inheritance from both Point and Timestamped.

Key changes:

• New Point class wrapping geometry_msgs.Point with clean inheritance from LCMPoint
• New PointStamped class combining 3D coordinates with timestamp and frame metadata
• LCM binary encoding/decoding for wire protocol compatibility
• Conversion methods: to_rerun() for visualization and to_pose_stamped() for navigation
• Comprehensive test coverage for inheritance, LCM roundtrip, and conversions

The implementation is clean, follows established patterns in the codebase (similar to TwistStamped), and provides the functionality needed for integrating Rerun viewer click coordinates into the dimos navigation system.

Confidence Score: 5/5

• This PR is safe to merge with minimal risk
• The implementation is clean and well-tested. It follows established patterns in the codebase (matching TwistStamped's architecture), uses proper inheritance hierarchy, and includes test coverage for core functionality. The code is straightforward with no complex logic, security concerns, or breaking changes.
• No files require special attention

Important Files Changed

Filename	Overview
dimos/msgs/geometry_msgs/PointStamped.py	New file implementing Point and PointStamped message types with LCM encoding/decoding and conversion methods
dimos/msgs/geometry_msgs/init.py	Adds Point and PointStamped to module exports
dimos/msgs/geometry_msgs/test_PointStamped.py	Unit tests covering Point inheritance, LCM roundtrip encoding, and PoseStamped conversion

Class Diagram

%%{init: {'theme': 'neutral'}}%%
classDiagram
    class LCMPoint {
        +float x
        +float y
        +float z
    }
    
    class Point {
        +string msg_name
        +__init__(x, y, z)
        +__repr__()
    }
    
    class Timestamped {
        +float ts
        +string frame_id
        +dt()
        +ros_timestamp()
    }
    
    class PointStamped {
        +string msg_name
        +__init__(x, y, z, ts, frame_id)
        +lcm_encode() bytes
        +lcm_decode(data) PointStamped
        +to_rerun() Archetype
        +to_pose_stamped() PoseStamped
        +__str__()
        +__repr__()
    }
    
    class PoseStamped {
        +position
        +orientation
    }
    
    LCMPoint <|-- Point : inherits
    Point <|-- PointStamped : inherits
    Timestamped <|-- PointStamped : inherits
    PointStamped ..> PoseStamped : converts to

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_{Last reviewed commit: 222137f}

[greptile-apps]

_{3 files reviewed, 1 comment}

_{Edit Code Review Agent Settings | Greptile}

[greptile-apps]

hardcoded absolute paths will fail in CI and other environments. tests should import from the module directly

Suggested change

	sys.path.insert(0, "/home/ubuntu/dimos")
	from dimos.msgs.geometry_msgs.Vector3 import Vector3
	from dimos.msgs.protocol import DimosMsg
	# Import from local file (same directory)
	sys.path.insert(0, "/home/ubuntu/.openclaw/workspace/engineering/DIM-643/lcm_integration")
	from PointStamped import PointStamped
	from dimos.msgs.geometry_msgs import PointStamped

[spomichter]

@greptile

[leshy]

this is good, given it inherits from LCMPoint we just have a nice init but no need to redefine lcm_encode/decode

[spomichter]

I know i initially had as Vector3 which is functionally the same as Point

[spomichter]

But knew we'd need eventually