Questions regarding the unreleased Topological Graph Builder

[wolkej377]

Hi WildOS Team,

First of all, thank you so much for open-sourcing the WildOS framework! It is an amazing piece of work bridging vision-language models with robotic navigation.

I am currently working on deploying WildOS in both a simulated environment (NVIDIA Isaac Sim) and on a real quadruped robot (Unitree Go2). While setting up the perception pipeline, I noticed that the core implementation for the Topological Graph Builder (i.e., the backend algorithm that aggregates scattered keyframes into a structured navigation graph and detects "Frontier Nodes" from LiDAR/odometry data) seems to be missing from this repository.

According to my understanding, this module might be deeply coupled with NASA-JPL's internal Nebula / LAMP 2.0 system assets.Therefore, I would like to ask:

• Community Release Plan: Is there any plan to release a lightweight or standalone version of the Topological Graph Builder / Frontier Detector for the community?
• Alternative Integration: If this module remains closed-source, could you provide some recommendations, guidelines, or specific interface definitions on how to bridge alternative open-source SLAM frameworks (e.g., rtabmap_ros, LIO-SAM) into the graphnav_msgs/msg/NavigationGraph input topic?

I would really appreciate any insights or suggestions on how to build a compatible graph pipeline to feed into the core_frontiers_node.Thank you for your time and guidance!

Best regards,
A Student in Robotics