Position Based Servoing for Bridging Navigation to Manipulation

dimos/navigation/local_movement/__init__.py

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+from dimos.navigation.local_movement.local_movement import LocalMovement, local_movement
+
+__all__ = ["LocalMovement", "local_movement"]

dimos/navigation/local_movement/demo_local_movement.py

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+#!/usr/bin/env python3
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dimos.core.blueprints import autoconnect
+from dimos.core.transport import ROSTransport
+from dimos.msgs.geometry_msgs import Pose, TwistStamped
+from dimos.msgs.nav_msgs.Odometry import Odometry
+from dimos.msgs.sensor_msgs import PointCloud2
+from dimos.msgs.std_msgs.Int8 import Int8
+from dimos.navigation.local_movement import local_movement
+
+demo_local_movement = autoconnect(
+    local_movement(),
+).transports(
+    {
+        ("odom", Odometry): ROSTransport("/state_estimation", Odometry),
+        ("move_command", Pose): ROSTransport("/local_movement", Pose),
+        ("terrain", PointCloud2): ROSTransport("/terrain_map", PointCloud2),
+        ("cmd_vel", TwistStamped): ROSTransport("/cmd_vel", TwistStamped),
+        ("status", Int8): ROSTransport("/local_movement/status", Int8),
+    }
+)