[leshy]

requires PR https://github.com/dimensionalOS/go2web/pull/28 MERGED
requires PR dimensionalOS/dimos-viewer#25 MERGED - fixes h264 rendering in rerun native

deploy go2web dimos-helper on go2 (read the readme on the repo)

run dimos --transport=zenoh --dtop run go2-zenoh-nav (no need for robot IP, zenoh has auto-discovery)

adds 3d planner blueprint, with simple and Dan controllers, fixes realtime vis of surface maps

this pr also adds support for h264 streams in dimos

[greptile-apps]

Greptile Summary

This PR adds a Zenoh-based navigation stack for the Unitree Go2. The main changes are:

• New Go2 Zenoh connection and navigation blueprints.
• Planner clearance data and reusable 3D visualization helpers.
• Compressed video and string message wrappers.
• Reliable QoS for one-shot robot commands.
• Updated viewer and ray-tracing build dependencies.

Confidence Score: 5/5

This looks safe to merge.

• No blocking issues found in the updated code.

Important Files Changed

Filename	Overview
dimos/robot/unitree/go2/zenoh/zenohconnection.py	Adds Zenoh streams, robot commands, transforms, camera metadata, and startup and shutdown behavior for the Go2.
dimos/robot/unitree/go2/zenoh/blueprints.py	Adds basic, raycasting, navigation, and holonomic-controller Go2 Zenoh blueprints.
dimos/navigation/nav_3d/mls_planner/viz.py	Adds shared rendering helpers for planner surfaces, nodes, and weighted edges.
dimos/navigation/nav_3d/mls_planner/rust/src/main.rs	Publishes planner surface clearance through the point-cloud intensity field.

_{Reviews (5): Last reviewed commit: "Merge branch 'main' into ivan/feat/go2ze..." | Re-trigger Greptile}

[codecov]

Codecov Report

❌ Patch coverage is 70.80000% with 73 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/navigation/nav_3d/mls_planner/viz.py	29.78%	33 Missing ⚠️
dimos/robot/unitree/go2/zenoh/zenohconnection.py	67.39%	30 Missing ⚠️
dimos/robot/unitree/go2/zenoh/blueprints.py	80.95%	8 Missing ⚠️
dimos/msgs/foxglove_msgs/CompressedVideo.py	97.14%	1 Missing ⚠️
dimos/msgs/std_msgs/String.py	83.33%	1 Missing ⚠️

@@           Coverage Diff            @@
##             main    #3141    +/-   ##
========================================
  Coverage   73.33%   73.33%            
========================================
  Files        1038     1044     +6     
  Lines       94300    94523   +223     
  Branches     8546     8550     +4     
========================================
+ Hits        69154    69319   +165     
- Misses      22799    22854    +55     
- Partials     2347     2350     +3     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	66.19% <70.80%> (+0.01%)	⬆️
OS-ubuntu-latest	68.75% <70.80%> (+0.01%)	⬆️
Py-3.10	68.75% <70.80%> (+0.01%)	⬆️
Py-3.11	68.75% <70.80%> (+0.02%)	⬆️
Py-3.12	68.74% <70.80%> (+0.01%)	⬆️
Py-3.13	68.74% <70.80%> (+<0.01%)	⬆️
Py-3.14	68.75% <70.80%> (+0.01%)	⬆️
Py-3.14t	68.74% <70.80%> (+<0.01%)	⬆️
SelfHosted-Large	30.05% <41.37%> (+<0.01%)	⬆️
SelfHosted-Linux	37.08% <41.37%> (-0.01%)	⬇️
SelfHosted-macOS	35.98% <41.37%> (+<0.01%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/core/transport_factory.py	100.00% <100.00%> (ø)
dimos/msgs/foxglove_msgs/test_CompressedVideo.py	100.00% <100.00%> (ø)
dimos/navigation/nav_3d/evaluator/blueprints.py	85.00% <100.00%> (+36.11%)	⬆️
dimos/robot/all_blueprints.py	100.00% <ø> (ø)
...e/go2/blueprints/navigation/unitree_go2_mls_htc.py	83.33% <100.00%> (+1.51%)	⬆️
...ee/go2/blueprints/navigation/unitree_go2_nav_3d.py	79.68% <100.00%> (+0.65%)	⬆️
dimos/msgs/foxglove_msgs/CompressedVideo.py	97.14% <97.14%> (ø)
dimos/msgs/std_msgs/String.py	83.33% <83.33%> (ø)
dimos/robot/unitree/go2/zenoh/blueprints.py	80.95% <80.95%> (ø)
dimos/robot/unitree/go2/zenoh/zenohconnection.py	67.39% <67.39%> (ø)
... and 1 more

... and 3 files with indirect coverage changes

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