AGIBOT Integration

[leshy]

Writing a DDS transport

on bridge vs transport https://discord.com/channels/1341146487186391173/1460724184241148044/1461526788231659560

G1 First as test

then moving on to AGIBot

DDSTransport

• pass pubsub/test_spec.py for your DDS pubsub implementation

• example ROSTransport is at WIP Ros transport #1034
  it has test_benchmark.py that you might want to take and run on your end also. (we'll need to do this for the pubsub to be prod ready)

IDK what your encoding will be for g1, etc, for now you might want to just pickle for very-initial tests?

• write DDSTransport and use it for 2 dimos modules to talk to each other.. can you even deploy unitreeGO2 over dds? if not why not? - you'll need to find LCMTransport and write your own, it's a few lines of code, just a glue to your dds pubsub

• to connect 2 modules directly without blueprints can read this https://github.com/dimensionalOS/dimos/blob/main/docs/concepts/modules.md#connecting-modules or can ask Paul how to specify transports if using blueprints

• generally own DDS properly, does dds have QOS etc? what settings are optimal in which cases? read dds docs

[linear]

DIM-362