feat(mapping): add temporal consistency to loop closure#187
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…exAI#180) The occupancy map in poi_editor and path_editor is flattened to a 2D top-down projection (max over Z) for rendering, matching build_map_node's visualization. Add off-by-default checkboxes to show the true per-voxel 3D occupied/free point cloud, useful when placing POIs or drawing paths at a specific height. Co-authored-by: xiaolefang <xiaolefang@example.com>
… odom (UniflexAI#178) * feat(nav): update nav target with latest odom * refactor(nav): decouple global plan from keyframe, replan on deviation Move global path planning out of keyframe_callback into nav_target_timer (0.5 Hz). Planning now triggers only when: no cached path, POI changed, or robot deviates >1 m from the cached path. Global plan is republished every timer tick from cache. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * feat(nav): add path shortcutting and Chaikin smoothing Post-process SDF path with greedy Bresenham line-of-sight shortcutting to eliminate prior-path detours, then apply 2-iteration Chaikin corner cutting for smoother motion on Jetson Nano. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * abandon the smooth * fix(lint): remove unused keyframe_image_timestamp_ns variable --------- Co-authored-by: xiaolefang <xiaolefang@example.com> Co-authored-by: Claude Sonnet 4.6 <noreply@anthropic.com> Co-authored-by: xiaolefang-dm <xiaolefang-dm@users.noreply.github.com>
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