feat: [DIM-530] AGIbot nav test blueprint using ROSNav bridge

[spomichter]

Composes ROSNav with explicit transport assignments:

• ros_* In ports use ROSTransport (subscribe from AGIbot ROS topics)
• DimOS Out ports use LCMTransport (publish to lcmspy/rerun)
• ROSNav bridges internally: ROS → handler code → LCM

Registered as 'agibot-nav-test' in all_blueprints.py

[greptile-apps]

Greptile Summary

This PR adds a new AGIbot navigation test blueprint (agibot_nav_test) that composes the existing ROSNav module with explicit transport assignments. ROS In ports subscribe from the AGIbot's ROS navigation topics via ROSTransport, while DimOS Out ports publish to lcmspy/rerun via LCMTransport. The blueprint also configures ROS Out ports for publishing goals, cancellation, and joystick commands back to the AGIbot stack.

• The blueprint file itself (agibot_nav_test.py) follows established patterns well, using autoconnect(ros_nav()).transports({...}) with clear transport mappings.
• Critical issue: The blueprint is registered in all_modules instead of all_blueprints in the auto-generated all_blueprints.py. This will cause dimos run agibot-nav-test to fail at runtime because the CLI resolves the primary blueprint name via get_blueprint_by_name(), which only checks all_blueprints. Additionally, the all_modules loader uses the dict key as an getattr identifier, but "agibot-nav-test" contains hyphens which are invalid in Python identifiers.
• The fix is to not manually edit all_blueprints.py — instead, run pytest dimos/robot/test_all_blueprints_generation.py to auto-generate the correct entry in all_blueprints.

Confidence Score: 2/5

• This PR has a runtime-breaking registration bug that will prevent the blueprint from being runnable via dimos run.
• The blueprint code itself is well-structured, but it is registered in the wrong dictionary (all_modules instead of all_blueprints) in a file that is auto-generated and should not be manually edited. The current registration will cause a runtime failure when attempting to run the blueprint.
• dimos/robot/all_blueprints.py — the entry needs to be moved from all_modules to all_blueprints (ideally by running the auto-generator).

Important Files Changed

Filename	Overview
dimos/robot/agibot/blueprints/test/agibot_nav_test.py	New AGIbot navigation test blueprint composing ROSNav with explicit transport assignments. Well-structured, follows existing patterns for blueprint files.
dimos/robot/all_blueprints.py	Blueprint registered in all_modules instead of all_blueprints, and this auto-generated file was manually edited. The entry will cause a runtime failure.
dimos/robot/agibot/init.py	Empty init file for new agibot package. No issues.
dimos/robot/agibot/blueprints/init.py	Empty init file for new blueprints package. No issues.
dimos/robot/agibot/blueprints/test/init.py	Empty init file for new test blueprints package. No issues.
dimos/robot/agibot/modules/init.py	Empty init file for future agibot modules. No issues.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    subgraph ROS["AGIbot ROS Navigation Stack"]
        R1["/goal_reached"]
        R2["/cmd_vel"]
        R3["/way_point"]
        R4["/registered_scan"]
        R5["/terrain_map_ext"]
        R6["/path"]
        R7["/tf"]
        R8["/goal_pose"]
        R9["/cancel_goal"]
        R10["/stop"]
        R11["/joy"]
    end

    subgraph Blueprint["agibot_nav_test Blueprint"]
        subgraph ROSIn["ROS In Ports (ROSTransport)"]
            RI1["ros_goal_reached"]
            RI2["ros_cmd_vel"]
            RI3["ros_way_point"]
            RI4["ros_registered_scan"]
            RI5["ros_global_pointcloud"]
            RI6["ros_path"]
            RI7["ros_tf"]
        end
        NAV["ROSNav Module"]
        subgraph ROSOut["ROS Out Ports (ROSTransport)"]
            RO1["ros_goal_pose"]
            RO2["ros_cancel_goal"]
            RO3["ros_soft_stop"]
            RO4["ros_joy"]
        end
        subgraph DimOut["DimOS Out Ports (LCMTransport)"]
            D1["pointcloud → /lidar"]
            D2["global_pointcloud → /map"]
            D3["goal_req → /goal_req"]
            D4["goal_active → /goal_active"]
            D5["path_active → /path_active"]
            D6["cmd_vel → /cmd_vel"]
        end
    end

    subgraph LCM["DimOS Consumers"]
        L1["lcmspy / rerun"]
    end

    R1 -->|ROSTransport| RI1
    R2 -->|ROSTransport| RI2
    R3 -->|ROSTransport| RI3
    R4 -->|ROSTransport| RI4
    R5 -->|ROSTransport| RI5
    R6 -->|ROSTransport| RI6
    R7 -->|ROSTransport| RI7

    RI1 --> NAV
    RI2 --> NAV
    RI3 --> NAV
    RI4 --> NAV
    RI5 --> NAV
    RI6 --> NAV
    RI7 --> NAV

    NAV --> RO1
    NAV --> RO2
    NAV --> RO3
    NAV --> RO4
    NAV --> D1
    NAV --> D2
    NAV --> D3
    NAV --> D4
    NAV --> D5
    NAV --> D6

    RO1 -->|ROSTransport| R8
    RO2 -->|ROSTransport| R9
    RO3 -->|ROSTransport| R10
    RO4 -->|ROSTransport| R11

    D1 -->|LCMTransport| L1
    D2 -->|LCMTransport| L1
    D3 -->|LCMTransport| L1
    D4 -->|LCMTransport| L1
    D5 -->|LCMTransport| L1
    D6 -->|LCMTransport| L1

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_{Last reviewed commit: 6173b70}

[greptile-apps]

_{6 files reviewed, 1 comment}

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[greptile-apps]

Blueprint registered in wrong dictionary

agibot_nav_test is a blueprint (created via autoconnect(...).transports(...)) but is registered in all_modules instead of all_blueprints. This will cause a runtime failure when running dimos run agibot-nav-test:

1. get_blueprint_by_name() looks up the name in all_blueprints — it won't find "agibot-nav-test" there, so it raises ValueError("Unknown blueprint set name: agibot-nav-test").

2. Even if this were somehow resolved to get_module_by_name(), that function does getattr(python_module, name)() where name is the dict key "agibot-nav-test". Since Python identifiers cannot contain hyphens, getattr(module, "agibot-nav-test") would raise AttributeError. The actual exported variable is agibot_nav_test (underscores).

3. all_blueprints.py is auto-generated (line 15: "Do not edit manually"). The auto-scanner in test_all_blueprints_generation.py would classify agibot_nav_test as a blueprint (because the assignment ends with .transports(), a blueprint method), so running the generator should produce the correct entry automatically.

Remove this manual edit and instead run pytest dimos/robot/test_all_blueprints_generation.py to regenerate. The expected auto-generated entry would be in all_blueprints:

Suggested change

"agibot-nav-test": "dimos.robot.agibot.blueprints.test.agibot_nav_test:agibot_nav_test",

With the auto-generated entry in all_blueprints being:

"agibot-nav-test": "dimos.robot.agibot.blueprints.test.agibot_nav_test:agibot_nav_test",