From 26b84d4f916443a8d7d28446306a86d5024b949f Mon Sep 17 00:00:00 2001 From: Yash Sinha Date: Thu, 15 Jan 2026 14:11:21 -0800 Subject: [PATCH 1/4] tf fix for navigation to tagged location --- dimos/agents/skills/navigation.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dimos/agents/skills/navigation.py b/dimos/agents/skills/navigation.py index 054246d6ee..5d7b1dac82 100644 --- a/dimos/agents/skills/navigation.py +++ b/dimos/agents/skills/navigation.py @@ -93,7 +93,7 @@ def tag_location(self, location_name: str) -> str: if not self._skill_started: raise ValueError(f"{self} has not been started.") - tf = self.tf.get("map", "base_link", time_tolerance=2.0) + tf = self.tf.get("world", "base_link", time_tolerance=2.0) if not tf: return "Could not get the robot's current transform." From 706fb2b56b1dc5af3decd23b567816eed2d6b29d Mon Sep 17 00:00:00 2001 From: Yash Sinha Date: Thu, 15 Jan 2026 14:20:33 -0800 Subject: [PATCH 2/4] additional tf fix in _navigat_by_tagged_location() --- dimos/agents/skills/navigation.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/dimos/agents/skills/navigation.py b/dimos/agents/skills/navigation.py index 5d7b1dac82..797364f1c0 100644 --- a/dimos/agents/skills/navigation.py +++ b/dimos/agents/skills/navigation.py @@ -162,7 +162,7 @@ def _navigate_by_tagged_location(self, query: str) -> str | None: goal_pose = PoseStamped( position=make_vector3(*robot_location.position), orientation=Quaternion.from_euler(Vector3(*robot_location.rotation)), - frame_id="map", + frame_id="world", ) result = self._navigate_to(goal_pose) @@ -393,7 +393,7 @@ def _get_goal_pose_from_result(self, result: dict[str, Any]) -> PoseStamped | No return PoseStamped( position=make_vector3(pos_x, pos_y, 0), orientation=Quaternion.from_euler(make_vector3(0, 0, theta)), - frame_id="map", + frame_id="world", ) From 4ea54d8144230912de772efa3f1af169741c5580 Mon Sep 17 00:00:00 2001 From: Yash Sinha Date: Fri, 16 Jan 2026 12:46:55 -0800 Subject: [PATCH 3/4] Added configurable variable for tf type in navigation skill container --- dimos/agents/skills/navigation.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/dimos/agents/skills/navigation.py b/dimos/agents/skills/navigation.py index 797364f1c0..a7ccc9ffdc 100644 --- a/dimos/agents/skills/navigation.py +++ b/dimos/agents/skills/navigation.py @@ -37,6 +37,7 @@ class NavigationSkillContainer(SkillModule): _latest_odom: PoseStamped | None = None _skill_started: bool = False _similarity_threshold: float = 0.23 + _navigation_frame: str = 'world' rpc_calls: list[str] = [ "SpatialMemory.tag_location", @@ -93,7 +94,7 @@ def tag_location(self, location_name: str) -> str: if not self._skill_started: raise ValueError(f"{self} has not been started.") - tf = self.tf.get("world", "base_link", time_tolerance=2.0) + tf = self.tf.get(self._navigation_frame, "base_link", time_tolerance=2.0) if not tf: return "Could not get the robot's current transform." @@ -162,7 +163,7 @@ def _navigate_by_tagged_location(self, query: str) -> str | None: goal_pose = PoseStamped( position=make_vector3(*robot_location.position), orientation=Quaternion.from_euler(Vector3(*robot_location.rotation)), - frame_id="world", + frame_id=self._navigation_frame, ) result = self._navigate_to(goal_pose) @@ -393,7 +394,7 @@ def _get_goal_pose_from_result(self, result: dict[str, Any]) -> PoseStamped | No return PoseStamped( position=make_vector3(pos_x, pos_y, 0), orientation=Quaternion.from_euler(make_vector3(0, 0, theta)), - frame_id="world", + frame_id=self._navigation_frame, ) From 9ade7db8edfb247d31917b94edc1d0ce8c5167bb Mon Sep 17 00:00:00 2001 From: sinha7y <61509723+sinha7y@users.noreply.github.com> Date: Fri, 16 Jan 2026 20:48:14 +0000 Subject: [PATCH 4/4] CI code cleanup --- dimos/agents/skills/navigation.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dimos/agents/skills/navigation.py b/dimos/agents/skills/navigation.py index a7ccc9ffdc..7ea5cbdc21 100644 --- a/dimos/agents/skills/navigation.py +++ b/dimos/agents/skills/navigation.py @@ -37,7 +37,7 @@ class NavigationSkillContainer(SkillModule): _latest_odom: PoseStamped | None = None _skill_started: bool = False _similarity_threshold: float = 0.23 - _navigation_frame: str = 'world' + _navigation_frame: str = "world" rpc_calls: list[str] = [ "SpatialMemory.tag_location",