Costmap based precision controller for trajectory controller

[mustafab0]

Auto e_max governor for precision-nav

Adds a CostmapPrecisionGovernor module that watches the global costmap and continuously sets the precision path follower's corridor half-width (e_max) from how cluttered the area around the robot is. Open spaces relax the corridor so the robot can drive faster; tight cluttered areas tighten it so the robot slows and tracks the path closely.

What's in this PR

• dimos/navigation/costmap_precision_governor/module.py — the new governor module.
  Subscribes to global_costmap: In[OccupancyGrid] and odom: In[PoseStamped],
  and publishes e_max: Out[Float32].

How to test

Pull the bundled outputs and inspect them:

git lfs pull --include="data/.lfs/characterization.tar.gz,data/.lfs/benchmark.tar.gz"
tar -xzf data/.lfs/characterization.tar.gz -C data/
tar -xzf data/.lfs/benchmark.tar.gz -C data/

On the robot:

dimos run unitree-go2-precision-nav

Where to change the artifact path

The characterization artifact path is set in dimos/robot/unitree/go2/blueprints/basic/unitree_go2_coordinator.py on the precision_follower TaskConfig (around line 100). Default points at data/characterization/go2/go2_config_hw_concrete_2026-05-28_normal.json.

To override per run without editing the file:

dimos run unitree-go2-precision-nav \
  -o coordinator.tasks[2].params.artifact_path=<full/path/to.json>

tasks[2] is the precision_follower (after vel_go2 and path_follower in the task list).

Config knobs (governor)

All live on CostmapPrecisionGovernorConfig and are overridable per-run with -o costmap_precision_governor.<knob>=...:

knob	default	meaning
d_near	0.30 m	clearance at or below this → e_max_low
d_far	1.50 m	clearance at or above this → e_max_high
e_max_low	0.10 m	corridor in tight spaces
e_max_high	0.90 m	corridor in open spaces
hysteresis_delta	0.02 m	minimum change before republishing
lookahead_m	0.50 m	sample point projected along robot heading (0 = at robot)
obstacle_threshold	50	costmap cell value treated as occupied