feat(nav): add clicked_point input to replanning planner

[spomichter]

adds clicked_point: In[PointStamped] to ReplanningAStarPlanner. subscribes and converts to PoseStamped via .to_pose_stamped(), feeds to existing goal handler.

what

3 lines of code in the planner module — no new modules, no new blueprints, no custom transports.

why

the rerun viewer fork (dimensionalOS/rerun#1) publishes click coordinates as PointStamped to /clicked_point via LCM. this lets the planner receive those clicks as navigation goals.

usage

any blueprint using the planner can wire it:

blueprint.transports({
    ("clicked_point", PointStamped): LCMTransport("/clicked_point", PointStamped),
})

depends on

• feat(msgs): add PointStamped geometry message type #1388 (PointStamped type + Point wrapper)

DIM-643

[greptile-apps]

Greptile Summary

This PR adds PointStamped message type support and wires it into ReplanningAStarPlanner to enable click-to-navigate functionality from the Rerun viewer.

Key changes:

• Introduces Point and PointStamped message types following the existing pattern of TwistStamped and PoseStamped (inheriting from base type + Timestamped mixin)
• PointStamped.to_pose_stamped() converts clicked points to navigation goals with identity orientation
• Planner module adds clicked_point: In[PointStamped] input and subscribes to convert incoming clicks to PoseStamped goals
• Comprehensive test coverage for LCM encoding/decoding and conversion logic
• Uses ros_timestamp() from Timestamped mixin, consistent with modern codebase patterns

Implementation quality:

• Clean implementation following established patterns
• Proper disposal management for subscriptions
• Well-tested with roundtrip encoding tests
• No breaking changes to existing functionality

Confidence Score: 5/5

• This PR is safe to merge with no issues found
• Clean implementation following existing patterns (PoseStamped, TwistStamped), proper test coverage, no breaking changes, correct disposal management, and straightforward integration with existing goal handler
• No files require special attention

Important Files Changed

Filename	Overview
dimos/msgs/geometry_msgs/PointStamped.py	implements PointStamped message type with LCM encoding/decoding and to_pose_stamped conversion
dimos/msgs/geometry_msgs/test_PointStamped.py	comprehensive tests for PointStamped LCM roundtrip and PoseStamped conversion
dimos/navigation/replanning_a_star/module.py	adds clicked_point input stream and subscribes to convert clicks to navigation goals

Sequence Diagram

sequenceDiagram
    participant Rerun as Rerun Viewer
    participant LCM as LCM Transport
    participant Planner as ReplanningAStarPlanner
    participant Handler as GlobalPlanner.handle_goal_request

    Rerun->>LCM: publish PointStamped to /clicked_point
    LCM->>Planner: clicked_point.subscribe()
    Planner->>Planner: pt.to_pose_stamped()
    Note over Planner: converts PointStamped to PoseStamped<br/>with identity quaternion [0,0,0,1]
    Planner->>Handler: handle_goal_request(pose_stamped)
    Note over Handler: processes navigation goal

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