feat(spot): spot-replay blueprint - play a recording back into Rerun - #3433
Open
jeff-hykin wants to merge 6 commits into
Open
feat(spot): spot-replay blueprint - play a recording back into Rerun#3433jeff-hykin wants to merge 6 commits into
jeff-hykin wants to merge 6 commits into
Conversation
SpotReplay plays a memory2 recording back onto SpotHighLevel's stream names so the Rerun camera layout lights up with no robot. spot_camera_visual_overrides routes the two shared CameraInfo streams onto each camera's image entity so every frustum anchors to its optical frame, and a green base_link box stands in for the body.
SpotReplay accumulated its own trail and capped it at 2000 poses, so a long recording only ever showed its tail. OdometryPath (from the cuvslam branch) does the same job as a reusable module with a 20000-pose horizon and a publish-rate ceiling, and works on a live robot too.
I had copied the version from alfred_cuvslam, which still drives itself with an explicit start()/subscribe. cuvslam carries the later rewrite onto an async handle_odometry, which is the convention the rest of the modules follow.
jeff-hykin
requested review from
Dreamsorcerer,
leshy,
mustafab0,
paul-nechifor and
spomichter
as code owners
August 10, 2026 21:25
Codecov Report❌ Patch coverage is @@ Coverage Diff @@
## jeff/feat/spot #3433 +/- ##
==================================================
- Coverage 71.21% 71.20% -0.02%
==================================================
Files 1253 1256 +3
Lines 132484 132659 +175
Branches 13505 13520 +15
==================================================
+ Hits 94349 94458 +109
- Misses 35011 35078 +67
+ Partials 3124 3123 -1
Flags with carried forward coverage won't be shown. Click here to find out more.
... and 1 file with indirect coverage changes 🚀 New features to boost your workflow:
|
Routes an explicit --db-path through resolve_db_path (the same helper go2 replay uses), so a name that is not on disk is downloaded from LFS instead of erroring. Makes `dimos run spot-replay --db-path=spot_small_loop.db` a one-liner that works on a fresh clone.
github-actions
Bot
added
the
ready-to-merge
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Summary
Run it with no robot and no local dataset: