Nav pt1: Make vis_throttle work out of the box

[jeff-hykin]

Make vis_throttle work even when max_hz isn't specified.

Test with:

dimos run unitree-g1-nav-sim

[greptile-apps]

Greptile Summary

This PR makes vis_throttle functional even when the caller hasn't pre-populated max_hz by introducing a default_max_hz parameter and always computing per-entity rate limits as the union of visual_override entities and any user-supplied max_hz keys.

• The old guard (if vis_throttle != 1.0 and "max_hz" in resolved) is removed; max_hz is now always built, defaulting each entity to default_max_hz * vis_throttle (60 Hz at the default throttle).
• A previously flagged undefined-symbol bug (_pgo_graph_nodes_colors_debug) is no longer present; the correct names (_graph_nodes_colors_debug, _graph_edges_colors_debug) are defined in the file.

Confidence Score: 4/5

Safe to merge; the logic change is small and well-scoped, but the computed max_hz values are now always floats rather than integers.

The refactor is clean and the intent is clear. The only outstanding concern is that multiplying an int default_max_hz by a float vis_throttle always produces float values in the max_hz dict, which diverges from the int annotation and could silently break a downstream consumer that expects integer Hz values.

dimos/navigation/nav_stack/main.py — the max_hz dict now holds floats; worth confirming the downstream consumer handles them correctly.

Important Files Changed

Filename

Overview

dimos/navigation/nav_stack/main.py

Refactors nav_stack_rerun_config to always populate max_hz for every visual entity using default_max_hz * vis_throttle, replacing the old guard that skipped throttling when max_hz was absent or vis_throttle == 1.0. The undefined-symbol issue from the previous review is no longer present. One minor concern: computed max_hz values are always floats due to multiplication with the vis_throttle float, even though default_max_hz is annotated int.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A["nav_stack_rerun_config(user_config, vis_throttle, default_max_hz)"] --> B["resolved = dict(user_config or {})"]
    B --> C["setdefault: blueprint, pubsubs, visual_override, static"]
    C --> D["Populate visual_override defaults"]
    D --> E{agentic_debug?}
    E -->|Yes| F["Add debug color overrides"]
    E -->|No| G["Add normal color overrides"]
    F --> H["resolved['visual_override'] = visual_override"]
    G --> H
    H --> I["Populate static defaults"]
    I --> J["resolved.setdefault('max_hz', {})"]
    J --> K["Iterate: set(visual_override) | set(resolved['max_hz'])"]
    K --> L["each_entity: get(entity, default_max_hz) * vis_throttle"]
    L --> M["return resolved"]

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_{Reviews (6): Last reviewed commit: "Merge remote-tracking branch 'origin/mai..." | Re-trigger Greptile}

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ All tests successful. No failed tests found.

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