feat(viz): add RerunWebSocketServer for dimos-viewer remote mode

changes.md

@@ -0,0 +1,19 @@
+# PR #1643 (rconnect) — Paul Review Fixes
+
+## Commits (local, not pushed)
+
+### 1. `81769d273` — Log exception + unblock stop() on startup failure
+- If `_serve()` throws, `_server_ready` was never set → `stop()` blocked 5s
+- Now logs exception and sets `_server_ready` in finally
+- **Revert:** `git revert 81769d273`
+
+## Reviewer was wrong on
+- `_server_ready` race — it IS set inside `async with` (after bind), not before
+- `msg.get("x") or 0` — code already uses `msg.get("x", 0)` correctly
+
+## Not addressed (need Jeff's input)
+- `vis_module` always bundling `RerunWebSocketServer` — opt-out design choice
+- `LCM()` instantiated for non-rerun backends — wasted resource
+- `rerun-connect` skipping `WebsocketVisModule` — intentional?
+- Default `host = "0.0.0.0"` — intentional for remote viewer use case
+- Hardcoded test ports — should use port=0 for parallel safety

dimos/hardware/sensors/camera/module.py

@@ -32,7 +32,7 @@
 from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo
 from dimos.msgs.sensor_msgs.Image import Image, sharpness_barrier
 from dimos.spec import perception
-from dimos.visualization.rerun.bridge import RerunBridgeModule
+from dimos.visualization.vis_module import vis_module
 
 
 def default_transform() -> Transform:
@@ -120,5 +120,5 @@ def stop(self) -> None:
 
 demo_camera = autoconnect(
     CameraModule.blueprint(),
-    RerunBridgeModule.blueprint(),
+    vis_module("rerun"),
 )

dimos/hardware/sensors/lidar/fastlio2/fastlio_blueprints.py

@@ -15,36 +15,45 @@
 from dimos.core.blueprints import autoconnect
 from dimos.hardware.sensors.lidar.fastlio2.module import FastLio2
 from dimos.mapping.voxels import VoxelGridMapper
-from dimos.visualization.rerun.bridge import RerunBridgeModule
+from dimos.visualization.vis_module import vis_module
 
 voxel_size = 0.05
 
 mid360_fastlio = autoconnect(
     FastLio2.blueprint(voxel_size=voxel_size, map_voxel_size=voxel_size, map_freq=-1),
-    RerunBridgeModule.blueprint(
-        visual_override={
-            "world/lidar": lambda grid: grid.to_rerun(voxel_size=voxel_size, mode="boxes"),
-        }
+    vis_module(
+        "rerun",
+        rerun_config={
+            "visual_override": {
+                "world/lidar": lambda grid: grid.to_rerun(voxel_size=voxel_size, mode="boxes"),
+            },
+        },
     ),
 ).global_config(n_workers=2, robot_model="mid360_fastlio2")
 
 mid360_fastlio_voxels = autoconnect(
     FastLio2.blueprint(),
     VoxelGridMapper.blueprint(publish_interval=1.0, voxel_size=voxel_size, carve_columns=False),
-    RerunBridgeModule.blueprint(
-        visual_override={
-            "world/global_map": lambda grid: grid.to_rerun(voxel_size=voxel_size, mode="boxes"),
-            "world/lidar": None,
-        }
+    vis_module(
+        "rerun",
+        rerun_config={
+            "visual_override": {
+                "world/global_map": lambda grid: grid.to_rerun(voxel_size=voxel_size, mode="boxes"),
+                "world/lidar": None,
+            },
+        },
     ),
 ).global_config(n_workers=3, robot_model="mid360_fastlio2_voxels")
 
 mid360_fastlio_voxels_native = autoconnect(
     FastLio2.blueprint(voxel_size=voxel_size, map_voxel_size=voxel_size, map_freq=3.0),
-    RerunBridgeModule.blueprint(
-        visual_override={
-            "world/lidar": None,
-            "world/global_map": lambda grid: grid.to_rerun(voxel_size=voxel_size, mode="boxes"),
-        }
+    vis_module(
+        "rerun",
+        rerun_config={
+            "visual_override": {
+                "world/lidar": None,
+                "world/global_map": lambda grid: grid.to_rerun(voxel_size=voxel_size, mode="boxes"),
+            },
+        },
     ),
 ).global_config(n_workers=2, robot_model="mid360_fastlio2")

dimos/hardware/sensors/lidar/livox/livox_blueprints.py

@@ -14,9 +14,9 @@
 
 from dimos.core.blueprints import autoconnect
 from dimos.hardware.sensors.lidar.livox.module import Mid360
-from dimos.visualization.rerun.bridge import RerunBridgeModule
+from dimos.visualization.vis_module import vis_module
 
 mid360 = autoconnect(
     Mid360.blueprint(),
-    RerunBridgeModule.blueprint(),
+    vis_module("rerun"),
 ).global_config(n_workers=2, robot_model="mid360")

dimos/manipulation/blueprints.py

@@ -46,8 +46,8 @@
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
 from dimos.msgs.sensor_msgs.JointState import JointState
 from dimos.perception.object_scene_registration import ObjectSceneRegistrationModule
-from dimos.robot.foxglove_bridge import FoxgloveBridge  # TODO: migrate to rerun
 from dimos.utils.data import get_data
+from dimos.visualization.vis_module import vis_module
 
 
 def _make_base_pose(
@@ -409,7 +409,7 @@ def _make_piper_config(
             base_transform=_XARM_PERCEPTION_CAMERA_TRANSFORM,
         ),
         ObjectSceneRegistrationModule.blueprint(target_frame="world"),
-        FoxgloveBridge.blueprint(),  # TODO: migrate to rerun
+        vis_module("foxglove"),
     )
     .transports(
         {

dimos/manipulation/grasping/demo_grasping.py

@@ -14,15 +14,14 @@
 # limitations under the License.
 from pathlib import Path
 
-from dimos.agents.mcp.mcp_client import McpClient
-from dimos.agents.mcp.mcp_server import McpServer
+from dimos.agents.agent import Agent
 from dimos.core.blueprints import autoconnect
 from dimos.hardware.sensors.camera.realsense.camera import RealSenseCamera
 from dimos.manipulation.grasping.graspgen_module import graspgen
 from dimos.manipulation.grasping.grasping import GraspingModule
 from dimos.perception.detection.detectors.yoloe import YoloePromptMode
 from dimos.perception.object_scene_registration import ObjectSceneRegistrationModule
-from dimos.robot.foxglove_bridge import FoxgloveBridge
+from dimos.visualization.vis_module import vis_module
 
 camera_module = RealSenseCamera.blueprint(enable_pointcloud=False)
 
@@ -44,7 +43,6 @@
             ("/tmp", "/tmp", "rw")
         ],  # Grasp visualization debug standalone: python -m dimos.manipulation.grasping.visualize_grasps
     ),
-    FoxgloveBridge.blueprint(),
-    McpServer.blueprint(),
-    McpClient.blueprint(),
+    vis_module("foxglove"),
+    Agent.blueprint(),
 ).global_config(viewer="foxglove")

dimos/perception/demo_object_scene_registration.py

@@ -13,14 +13,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from dimos.agents.mcp.mcp_client import McpClient
-from dimos.agents.mcp.mcp_server import McpServer
+from dimos.agents.agent import Agent
 from dimos.core.blueprints import autoconnect
 from dimos.hardware.sensors.camera.realsense.camera import RealSenseCamera
 from dimos.hardware.sensors.camera.zed.compat import ZEDCamera
 from dimos.perception.detection.detectors.yoloe import YoloePromptMode
 from dimos.perception.object_scene_registration import ObjectSceneRegistrationModule
-from dimos.robot.foxglove_bridge import FoxgloveBridge
+from dimos.visualization.vis_module import vis_module
 
 camera_choice = "zed"
 
@@ -34,7 +33,6 @@
 demo_object_scene_registration = autoconnect(
     camera_module,
     ObjectSceneRegistrationModule.blueprint(target_frame="world", prompt_mode=YoloePromptMode.LRPC),
-    FoxgloveBridge.blueprint(),
-    McpServer.blueprint(),
-    McpClient.blueprint(),
+    vis_module("foxglove"),
+    Agent.blueprint(),
 ).global_config(viewer="foxglove")

dimos/robot/all_blueprints.py

@@ -157,6 +157,7 @@
     "reid-module": "dimos.perception.detection.reid.module",
     "replanning-a-star-planner": "dimos.navigation.replanning_a_star.module",
     "rerun-bridge-module": "dimos.visualization.rerun.bridge",
+    "rerun-web-socket-server": "dimos.visualization.rerun.websocket_server",
     "ros-nav": "dimos.navigation.rosnav",
     "simple-phone-teleop": "dimos.teleop.phone.phone_extensions",
     "spatial-memory": "dimos.perception.spatial_perception",

dimos/robot/drone/blueprints/basic/drone_basic.py

@@ -20,10 +20,9 @@
 
 from dimos.core.blueprints import autoconnect
 from dimos.core.global_config import global_config
-from dimos.protocol.pubsub.impl.lcmpubsub import LCM
 from dimos.robot.drone.camera_module import DroneCameraModule
 from dimos.robot.drone.connection_module import DroneConnectionModule
-from dimos.web.websocket_vis.websocket_vis_module import WebsocketVisModule
+from dimos.visualization.vis_module import vis_module
 
 
 def _static_drone_body(rr: Any) -> list[Any]:
@@ -60,23 +59,12 @@ def _drone_rerun_blueprint() -> Any:
 
 _rerun_config = {
     "blueprint": _drone_rerun_blueprint,
-    "pubsubs": [LCM()],
     "static": {
         "world/tf/base_link": _static_drone_body,
     },
 }
 
-# Conditional visualization
-if global_config.viewer == "foxglove":
-    from dimos.robot.foxglove_bridge import FoxgloveBridge
-
-    _vis = FoxgloveBridge.blueprint()
-elif global_config.viewer.startswith("rerun"):
-    from dimos.visualization.rerun.bridge import RerunBridgeModule, _resolve_viewer_mode
-
-    _vis = RerunBridgeModule.blueprint(viewer_mode=_resolve_viewer_mode(), **_rerun_config)
-else:
-    _vis = autoconnect()
+_vis = vis_module(global_config.viewer, rerun_config=_rerun_config)
 
 # Determine connection string based on replay flag
 connection_string = "udp:0.0.0.0:14550"
@@ -92,7 +80,6 @@ def _drone_rerun_blueprint() -> Any:
         outdoor=False,
     ),
     DroneCameraModule.blueprint(camera_intrinsics=[1000.0, 1000.0, 960.0, 540.0]),
-    WebsocketVisModule.blueprint(),
 )
 
 __all__ = [

dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_shm.py

@@ -17,10 +17,11 @@
 
 from dimos.constants import DEFAULT_CAPACITY_COLOR_IMAGE
 from dimos.core.blueprints import autoconnect
+from dimos.core.global_config import global_config
 from dimos.core.transport import pSHMTransport
 from dimos.msgs.sensor_msgs.Image import Image
-from dimos.robot.foxglove_bridge import FoxgloveBridge
 from dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1 import unitree_g1
+from dimos.visualization.vis_module import vis_module
 
 unitree_g1_shm = autoconnect(
     unitree_g1.transports(
@@ -30,10 +31,9 @@
             ),
         }
     ),
-    FoxgloveBridge.blueprint(
-        shm_channels=[
-            "/color_image#sensor_msgs.Image",
-        ]
+    vis_module(
+        global_config.viewer,
+        foxglove_config={"shm_channels": ["/color_image#sensor_msgs.Image"]},
     ),
 )
 

dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py

@@ -40,8 +40,7 @@
 from dimos.navigation.frontier_exploration.wavefront_frontier_goal_selector import (
     WavefrontFrontierExplorer,
 )
-from dimos.protocol.pubsub.impl.lcmpubsub import LCM
-from dimos.web.websocket_vis.websocket_vis_module import WebsocketVisModule
+from dimos.visualization.vis_module import vis_module
 
 
 def _convert_camera_info(camera_info: Any) -> Any:
@@ -90,7 +89,6 @@ def _g1_rerun_blueprint() -> Any:
 
 rerun_config = {
     "blueprint": _g1_rerun_blueprint,
-    "pubsubs": [LCM()],
     "visual_override": {
         "world/camera_info": _convert_camera_info,
         "world/global_map": _convert_global_map,
@@ -101,18 +99,7 @@ def _g1_rerun_blueprint() -> Any:
     },
 }
 
-if global_config.viewer == "foxglove":
-    from dimos.robot.foxglove_bridge import FoxgloveBridge
-
-    _with_vis = autoconnect(FoxgloveBridge.blueprint())
-elif global_config.viewer.startswith("rerun"):
-    from dimos.visualization.rerun.bridge import RerunBridgeModule, _resolve_viewer_mode
-
-    _with_vis = autoconnect(
-        RerunBridgeModule.blueprint(viewer_mode=_resolve_viewer_mode(), **rerun_config)
-    )
-else:
-    _with_vis = autoconnect()
+_with_vis = vis_module(global_config.viewer, rerun_config=rerun_config)
 
 
 def _create_webcam() -> Webcam:
@@ -147,8 +134,6 @@ def _create_webcam() -> Webcam:
         VoxelGridMapper.blueprint(voxel_size=0.1),
         CostMapper.blueprint(),
         WavefrontFrontierExplorer.blueprint(),
-        # Visualization
-        WebsocketVisModule.blueprint(),
     )
     .global_config(n_workers=4, robot_model="unitree_g1")
     .transports(

dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py

@@ -22,10 +22,9 @@
 from dimos.core.global_config import global_config
 from dimos.core.transport import pSHMTransport
 from dimos.msgs.sensor_msgs.Image import Image
-from dimos.protocol.pubsub.impl.lcmpubsub import LCM
 from dimos.protocol.service.system_configurator.clock_sync import ClockSyncConfigurator
 from dimos.robot.unitree.go2.connection import GO2Connection
-from dimos.web.websocket_vis.websocket_vis_module import WebsocketVisModule
+from dimos.visualization.vis_module import vis_module
 
 # Mac has some issue with high bandwidth UDP, so we use pSHMTransport for color_image
 # actually we can use pSHMTransport for all platforms, and for all streams
@@ -87,9 +86,6 @@ def _go2_rerun_blueprint() -> Any:
 
 rerun_config = {
     "blueprint": _go2_rerun_blueprint,
-    # any pubsub that supports subscribe_all and topic that supports str(topic)
-    # is acceptable here
-    "pubsubs": [LCM()],
     # Custom converters for specific rerun entity paths
     # Normally all these would be specified in their respectative modules
     # Until this is implemented we have central overrides here
@@ -106,29 +102,19 @@ def _go2_rerun_blueprint() -> Any:
     },
 }
 
-
-if global_config.viewer == "foxglove":
-    from dimos.robot.foxglove_bridge import FoxgloveBridge
-
-    with_vis = autoconnect(
-        _transports_base,
-        FoxgloveBridge.blueprint(shm_channels=["/color_image#sensor_msgs.Image"]),
-    )
-elif global_config.viewer.startswith("rerun"):
-    from dimos.visualization.rerun.bridge import RerunBridgeModule, _resolve_viewer_mode
-
-    with_vis = autoconnect(
-        _transports_base,
-        RerunBridgeModule.blueprint(viewer_mode=_resolve_viewer_mode(), **rerun_config),
-    )
-else:
-    with_vis = _transports_base
+_with_vis = autoconnect(
+    _transports_base,
+    vis_module(
+        global_config.viewer,
+        rerun_config=rerun_config,
+        foxglove_config={"shm_channels": ["/color_image#sensor_msgs.Image"]},
+    ),
+)
 
 unitree_go2_basic = (
     autoconnect(
-        with_vis,
+        _with_vis,
         GO2Connection.blueprint(),
-        WebsocketVisModule.blueprint(),
     )
     .global_config(n_workers=4, robot_model="unitree_go2")
     .configurators(ClockSyncConfigurator())

dimos/robot/unitree/go2/blueprints/basic/unitree_go2_fleet.py

@@ -22,15 +22,13 @@
 
 from dimos.core.blueprints import autoconnect
 from dimos.protocol.service.system_configurator.clock_sync import ClockSyncConfigurator
-from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import with_vis
+from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import _with_vis
 from dimos.robot.unitree.go2.fleet_connection import Go2FleetConnection
-from dimos.web.websocket_vis.websocket_vis_module import WebsocketVisModule
 
 unitree_go2_fleet = (
     autoconnect(
-        with_vis,
+        _with_vis,
         Go2FleetConnection.blueprint(),
-        WebsocketVisModule.blueprint(),
     )
     .global_config(n_workers=4, robot_model="unitree_go2")
     .configurators(ClockSyncConfigurator())