Eric/go2 dds smoke test

[arkluc]

Problem

Closes DIM-XXX

Solution

How to Test

Contributor License Agreement

• I have read and approved the CLA.

[codecov]

❌ 2 Tests Failed:

Tests completed	Failed	Passed	Skipped
1978	2	1976	27

View the top 2 failed test(s) by shortest run time

dimos.project.test_no_init_files::test_no_init_files

Stack Traces | 0.019s run time

def test_no_init_files():
        dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
        init_files = sorted(dimos_dir.rglob("__init__.py"))
        # The root dimos/__init__.py is allowed for the porcelain lazy import.
        init_files = [f for f in init_files if f != dimos_dir / "__init__.py"]
        if init_files:
            listing = "\n".join(f"  - {f.relative_to(dimos_dir)}" for f in init_files)
>           raise AssertionError(
                f"Found __init__.py files in dimos/:\n{listing}\n\n"
                "__init__.py files are not allowed because they lead to unnecessary "
                "extraneous imports. Everything should be imported straight from the "
                "source module."
            )
E           AssertionError: Found __init__.py files in dimos/:
E             - .../go2/mcap/__init__.py
E           
E           __init__.py files are not allowed because they lead to unnecessary extraneous imports. Everything should be imported straight from the source module.

dimos_dir  = PosixPath('.../dimos/dimos/dimos')
init_files = [PosixPath('.../dimos/dimos/dimos/.../go2/mcap/__init__.py')]
listing    = '  - .../go2/mcap/__init__.py'

dimos/project/test_no_init_files.py:25: AssertionError

dimos.project.test_no_sections::test_no_section_markers

Stack Traces | 0.594s run time

def test_no_section_markers():
        """
        Fail if any file contains section-style comment markers.
    
        If a file is too complicated to be understood without sections, then the
        sections should be files. We don't need "subfiles".
        """
        violations = find_section_markers()
        if violations:
            report_lines = [
                f"Found {len(violations)} section marker(s). "
                "If a file is too complicated to be understood without sections, "
                'then the sections should be files. We don\'t need "subfiles".',
                "",
            ]
            for path, lineno, text in violations:
                report_lines.append(f"  {path}:{lineno}: {text.strip()}")
>           raise AssertionError("\n".join(report_lines))
E           AssertionError: Found 14 section marker(s). If a file is too complicated to be understood without sections, then the sections should be files. We don't need "subfiles".
E           
E             .../go2/mcap/ingest.py:60: # --- quaternion helpers (xyzw) ----------------------------------------------
E             .../go2/mcap/ingest.py:180: # ---- odom + odom_bestz (downsampled) ----
E             .../go2/mcap/ingest.py:203: # ---- lidar (world) per scan, deskewed by both trajectories + 1s bins ----
E             .../go2/mcap/ingest.py:243: # ---- 1 s accumulations (voxel-downsampled), posed at bin center ----
E             .../go2/mcap/ingest.py:255: # ---- color_image, posed at camera_optical in world ----
E             .../utils/cli/replay.py:264: # ---- per-frame raw clouds (always spheres) ----
E             .../utils/cli/replay.py:269: # ---- accumulated voxel maps over the selected PointCloud2 streams ----
E             .../utils/cli/replay.py:311: # ---- fastlio pose axis + path from fastlio_odometry stream ----
E             .../utils/cli/replay.py:335: # ---- Go2 native odom pose axis + path ----
E             .../utils/cli/replay.py:359: # ---- pass 2: camera pose + image per color_image ----
E             .../utils/cli/replay_marker.py:107: # ---- pass 1: robot base pose over time (from lidar.pose) ----
E             .../utils/cli/replay_marker.py:120: # ---- pass 2: camera pose + image per color_image frame ----
E             .../utils/cli/replay_marker.py:142: # ---- pass 3: marker detections (filtered same way as `dimos map`) ----
E             .../utils/cli/replay_marker.py:200: # ---- pass 4: averaged tracks (smoothing_window > 0 → per-track ids) ----

lineno     = 200
path       = '.../utils/cli/replay_marker.py'
report_lines = ['Found 14 section marker(s). If a file is too complicated to be understood without sections, then the sections should....../go2/mcap/ingest.py:243: # ---- 1 s accumulations (voxel-downsampled), posed at bin center ----', ...]
text       = '        # ---- pass 4: averaged tracks (smoothing_window > 0 → per-track ids) ----'
violations = [('.../go2/mcap/ingest.py', 60, '# --- quaternion helpers (xyzw) -------------------------------------...d ----'), ('.../utils/cli/replay.py', 264, '        # ---- per-frame raw clouds (always spheres) ----'), ...]

dimos/project/test_no_sections.py:145: AssertionError

To view more test analytics, go to the Test Analytics Dashboard
_{📋 Got 3 mins? Take this short survey to help us improve Test Analytics.}

[leshy]

superseded by #2314