Incremental map updating

[dimos-bot]

Overview

Enable incremental updates to global maps as the robot observes changes in the environment.

User Story

The G1 robot navigates through a hallway and encounters a closed door. The global map marks this area as blocked. Later, the robot returns to the same area and observes the door is now open. The system should:

1. Detect the environmental change (closed → open door)
2. Update the global map to reflect the door is now passable
3. Optionally export/download the updated map as a PCD file
4. Ensure the global planner can now route through the newly-opened door

Helpful Direction

Consider using the OctoMap library — an efficient probabilistic 3D mapping framework for incremental updates. Not required, but provides battle-tested primitives for:

• Occupancy grid updates
• Memory-efficient octree representation
• Integration with ROS/PCL

Acceptance Criteria

• Robot detects environmental changes (obstacles appearing/disappearing)
• Global map updates incrementally without full remapping
• Updated map can be exported as PCD
• Global planner queries reflect map changes in real-time
• Works across robot restarts (persistent map storage)

Notes

This is foundational for long-running autonomous operation in dynamic environments.

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Synced from DIM-708