Hi GLIM maintainers,
URML (urml.dev) is a small, Apache-2.0 language for describing robot intent: English sentence -> typed primitive -> static validation against a capability manifest and a safety envelope -> dispatch. URML declares frames and named locations; it consumes a pose and map estimate to ground them, it does not do SLAM itself. GLIM produces exactly that: a globally consistent LiDAR-inertial map and pose.
Nothing here asks GLIM to change or maintain anything. A note on scope: this thread is also where I am tracking hdl_graph_slam, since you maintain both; if one is the better integration surface for URML, please point me.
Two real questions. First, for a URML manifest to declare its localization source, should it reference GLIM's pose output plus its frame, and can the globally-consistent map sensibly back URML's occupancy and named-location checks? Second, contrasted with odometry-only pipelines, GLIM gives global consistency; is there a clean signal a consumer like URML should read to know the map has converged enough to trust for validation?
Full write-up, with the manifest mapping table: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0336-glim-outreach.md
One small thing: the GitHub API did not surface an SPDX license id at our verification time. Is GLIM MIT-licensed?
Thanks for GLIM, and for keeping hdl_graph_slam around too.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see VIBE.md). Human-only correspondence available on request.
Hi GLIM maintainers,
URML (urml.dev) is a small, Apache-2.0 language for describing robot intent: English sentence -> typed primitive -> static validation against a capability manifest and a safety envelope -> dispatch. URML declares frames and named locations; it consumes a pose and map estimate to ground them, it does not do SLAM itself. GLIM produces exactly that: a globally consistent LiDAR-inertial map and pose.
Nothing here asks GLIM to change or maintain anything. A note on scope: this thread is also where I am tracking hdl_graph_slam, since you maintain both; if one is the better integration surface for URML, please point me.
Two real questions. First, for a URML manifest to declare its localization source, should it reference GLIM's pose output plus its frame, and can the globally-consistent map sensibly back URML's occupancy and named-location checks? Second, contrasted with odometry-only pipelines, GLIM gives global consistency; is there a clean signal a consumer like URML should read to know the map has converged enough to trust for validation?
Full write-up, with the manifest mapping table: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0336-glim-outreach.md
One small thing: the GitHub API did not surface an SPDX license id at our verification time. Is GLIM MIT-licensed?
Thanks for GLIM, and for keeping hdl_graph_slam around too.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see VIBE.md). Human-only correspondence available on request.