From 0acf3759f40907c5c315479ab4ea0cbfd3e5bb08 Mon Sep 17 00:00:00 2001
From: spomichter <pomichterstash@gmail.com>
Date: Sun, 1 Mar 2026 17:07:19 +0000
Subject: [PATCH 1/9] feat(nav): add clicked_point input to replanning planner

subscribe to PointStamped clicks from rerun viewer, convert to
PoseStamped via .to_pose_stamped() and feed to goal handler.

wire with: LCMTransport("/clicked_point", PointStamped)

DIM-643
---
 dimos/navigation/replanning_a_star/module.py | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/dimos/navigation/replanning_a_star/module.py b/dimos/navigation/replanning_a_star/module.py
index 60dfad73ae..4dad9a2843 100644
--- a/dimos/navigation/replanning_a_star/module.py
+++ b/dimos/navigation/replanning_a_star/module.py
@@ -21,7 +21,7 @@
 from dimos.core.global_config import GlobalConfig, global_config
 from dimos.core.module import Module
 from dimos.core.stream import In, Out
-from dimos.msgs.geometry_msgs import PoseStamped, Twist
+from dimos.msgs.geometry_msgs import PointStamped, PoseStamped, Twist
 from dimos.msgs.nav_msgs import OccupancyGrid, Path
 from dimos.navigation.base import NavigationInterface, NavigationState
 from dimos.navigation.replanning_a_star.global_planner import GlobalPlanner
@@ -31,6 +31,7 @@ class ReplanningAStarPlanner(Module, NavigationInterface):
     odom: In[PoseStamped]  # TODO: Use TF.
     global_costmap: In[OccupancyGrid]
     goal_request: In[PoseStamped]
+    clicked_point: In[PointStamped]
     target: In[PoseStamped]
 
     goal_reached: Out[Bool]
@@ -60,6 +61,14 @@ def start(self) -> None:
         )
         self._disposables.add(Disposable(self.target.subscribe(self._planner.handle_goal_request)))
 
+        self._disposables.add(
+            Disposable(
+                self.clicked_point.subscribe(
+                    lambda pt: self._planner.handle_goal_request(pt.to_pose_stamped())
+                )
+            )
+        )
+
         self._disposables.add(self._planner.path.subscribe(self.path.publish))
 
         self._disposables.add(self._planner.cmd_vel.subscribe(self.cmd_vel.publish))

From 5594368bdb79f6e1b3097c06df32cc3e9fc3e32c Mon Sep 17 00:00:00 2001
From: spomichter <pomichterstash@gmail.com>
Date: Sun, 1 Mar 2026 17:32:04 +0000
Subject: [PATCH 2/9] feat(examples): add rerun click-to-navigate test script

runs Go2 smart blueprint with viewer_mode=none, connects to custom
rerun viewer on gRPC port 9877, wires /clicked_point LCM transport
to planner's clicked_point input.

DIM-643
---
 examples/rerun_click_test.py | 120 +++++++++++++++++++++++++++++++++++
 1 file changed, 120 insertions(+)
 create mode 100644 examples/rerun_click_test.py

diff --git a/examples/rerun_click_test.py b/examples/rerun_click_test.py
new file mode 100644
index 0000000000..52523d6263
--- /dev/null
+++ b/examples/rerun_click_test.py
@@ -0,0 +1,120 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""E2E test: Rerun viewer click → Go2 navigation goal.
+
+Usage:
+    1. Start the custom rerun viewer (with LCM click support):
+       ./target/release/custom_callback_viewer
+
+    2. Run this script:
+       uv run python examples/rerun_click_test.py
+
+    3. Click on entities in the Rerun viewer → robot navigates to click position.
+
+The custom viewer listens on gRPC port 9877 and publishes PointStamped
+clicks to /clicked_point via LCM UDP multicast.
+
+This script runs the Go2 smart blueprint with viewer_mode="none" (no
+built-in viewer) and connects to the custom viewer's gRPC endpoint.
+"""
+
+import signal
+import sys
+import time
+
+import rerun as rr
+
+from dimos.core.blueprints import autoconnect
+from dimos.core.transport import LCMTransport
+from dimos.mapping.costmapper import cost_mapper
+from dimos.mapping.voxels import voxel_mapper
+from dimos.msgs.geometry_msgs import PointStamped
+from dimos.navigation.replanning_a_star.module import replanning_a_star_planner
+from dimos.protocol.pubsub.impl.lcmpubsub import LCM
+from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import (
+    _convert_camera_info,
+    _convert_global_map,
+    _convert_navigation_costmap,
+    _static_base_link,
+    _transports_base,
+)
+from dimos.robot.unitree.go2.connection import go2_connection
+from dimos.visualization.rerun.bridge import rerun_bridge
+from dimos.web.websocket_vis.websocket_vis_module import websocket_vis
+
+CUSTOM_VIEWER_URL = "rerun+http://127.0.0.1:9877/proxy"
+
+rerun_config = {
+    "pubsubs": [LCM(autoconf=True)],
+    "viewer_mode": "none",  # don't spawn viewer — we use the custom one
+    "visual_override": {
+        "world/camera_info": _convert_camera_info,
+        "world/global_map": _convert_global_map,
+        "world/navigation_costmap": _convert_navigation_costmap,
+    },
+    "static": {
+        "world/tf/base_link": _static_base_link,
+    },
+}
+
+# Build the blueprint: basic Go2 + nav + click-to-nav transport
+with_vis = autoconnect(_transports_base, rerun_bridge(**rerun_config))
+
+blueprint = (
+    autoconnect(
+        with_vis,
+        go2_connection(),
+        websocket_vis(),
+        voxel_mapper(voxel_size=0.1),
+        cost_mapper(),
+        replanning_a_star_planner(),
+    )
+    .transports(
+        {
+            ("clicked_point", PointStamped): LCMTransport("/clicked_point", PointStamped),
+        }
+    )
+    .global_config(n_workers=6, robot_model="unitree_go2")
+)
+
+
+def main() -> None:
+    print("Building blueprint...")
+    coordinator = blueprint.build()
+
+    print("Starting modules...")
+    coordinator.start()
+
+    # Connect to the custom viewer's gRPC endpoint
+    print(f"Connecting to custom Rerun viewer at {CUSTOM_VIEWER_URL}...")
+    rr.connect_grpc(CUSTOM_VIEWER_URL)
+    print("Connected! Click on entities in the Rerun viewer to send navigation goals.")
+    print("Press Ctrl+C to stop.")
+
+    def shutdown(*_: object) -> None:
+        print("\nShutting down...")
+        coordinator.stop()
+        sys.exit(0)
+
+    signal.signal(signal.SIGINT, shutdown)
+    signal.signal(signal.SIGTERM, shutdown)
+
+    while True:
+        time.sleep(1)
+
+
+if __name__ == "__main__":
+    main()

From 60c3a8f7366dedbd2bb4750077fc90123163ac3a Mon Sep 17 00:00:00 2001
From: spomichter <pomichterstash@gmail.com>
Date: Sun, 1 Mar 2026 17:39:59 +0000
Subject: [PATCH 3/9] fix(examples): add --simulation flag to click test

supports --simulation (mujoco), --robot-ip, --viewer-url args
---
 examples/rerun_click_test.py | 98 ++++++++++++++++++++++--------------
 1 file changed, 61 insertions(+), 37 deletions(-)

diff --git a/examples/rerun_click_test.py b/examples/rerun_click_test.py
index 52523d6263..d289a936b9 100644
--- a/examples/rerun_click_test.py
+++ b/examples/rerun_click_test.py
@@ -19,8 +19,8 @@
     1. Start the custom rerun viewer (with LCM click support):
        ./target/release/custom_callback_viewer
 
-    2. Run this script:
-       uv run python examples/rerun_click_test.py
+    2. Run this script (simulation mode):
+       uv run python examples/rerun_click_test.py --simulation
 
     3. Click on entities in the Rerun viewer → robot navigates to click position.
 
@@ -31,13 +31,16 @@
 built-in viewer) and connects to the custom viewer's gRPC endpoint.
 """
 
+import argparse
 import signal
 import sys
 import time
+from typing import Any
 
 import rerun as rr
 
 from dimos.core.blueprints import autoconnect
+from dimos.core.global_config import global_config
 from dimos.core.transport import LCMTransport
 from dimos.mapping.costmapper import cost_mapper
 from dimos.mapping.voxels import voxel_mapper
@@ -57,51 +60,72 @@
 
 CUSTOM_VIEWER_URL = "rerun+http://127.0.0.1:9877/proxy"
 
-rerun_config = {
-    "pubsubs": [LCM(autoconf=True)],
-    "viewer_mode": "none",  # don't spawn viewer — we use the custom one
-    "visual_override": {
-        "world/camera_info": _convert_camera_info,
-        "world/global_map": _convert_global_map,
-        "world/navigation_costmap": _convert_navigation_costmap,
-    },
-    "static": {
-        "world/tf/base_link": _static_base_link,
-    },
-}
-
-# Build the blueprint: basic Go2 + nav + click-to-nav transport
-with_vis = autoconnect(_transports_base, rerun_bridge(**rerun_config))
-
-blueprint = (
-    autoconnect(
-        with_vis,
-        go2_connection(),
-        websocket_vis(),
-        voxel_mapper(voxel_size=0.1),
-        cost_mapper(),
-        replanning_a_star_planner(),
-    )
-    .transports(
-        {
-            ("clicked_point", PointStamped): LCMTransport("/clicked_point", PointStamped),
-        }
-    )
-    .global_config(n_workers=6, robot_model="unitree_go2")
-)
+
+def _rerun_config() -> dict[str, Any]:
+    return {
+        "pubsubs": [LCM(autoconf=True)],
+        "viewer_mode": "none",  # don't spawn viewer — we use the custom one
+        "visual_override": {
+            "world/camera_info": _convert_camera_info,
+            "world/global_map": _convert_global_map,
+            "world/navigation_costmap": _convert_navigation_costmap,
+        },
+        "static": {
+            "world/tf/base_link": _static_base_link,
+        },
+    }
 
 
 def main() -> None:
+    parser = argparse.ArgumentParser(description="Rerun click-to-navigate test")
+    parser.add_argument("--simulation", action="store_true", help="Run in simulation (mujoco)")
+    parser.add_argument("--robot-ip", type=str, default=None, help="Robot IP (for real hardware)")
+    parser.add_argument(
+        "--viewer-url",
+        type=str,
+        default=CUSTOM_VIEWER_URL,
+        help="Custom viewer gRPC URL",
+    )
+    args = parser.parse_args()
+
+    # Configure global config
+    if args.simulation:
+        global_config.update(simulation=True)
+        global_config.update(viewer_backend="rerun")
+    if args.robot_ip:
+        global_config.update(robot_ip=args.robot_ip)
+
     print("Building blueprint...")
+    with_vis = autoconnect(_transports_base, rerun_bridge(**_rerun_config()))
+
+    blueprint = (
+        autoconnect(
+            with_vis,
+            go2_connection(),
+            websocket_vis(),
+            voxel_mapper(voxel_size=0.1),
+            cost_mapper(),
+            replanning_a_star_planner(),
+        )
+        .transports(
+            {
+                ("clicked_point", PointStamped): LCMTransport("/clicked_point", PointStamped),
+            }
+        )
+        .global_config(n_workers=6, robot_model="unitree_go2")
+    )
+
     coordinator = blueprint.build()
 
     print("Starting modules...")
     coordinator.start()
 
     # Connect to the custom viewer's gRPC endpoint
-    print(f"Connecting to custom Rerun viewer at {CUSTOM_VIEWER_URL}...")
-    rr.connect_grpc(CUSTOM_VIEWER_URL)
-    print("Connected! Click on entities in the Rerun viewer to send navigation goals.")
+    print(f"Connecting to custom Rerun viewer at {args.viewer_url}...")
+    rr.connect_grpc(args.viewer_url)
+    print("Connected!")
+    print()
+    print("Click on entities in the Rerun viewer to send navigation goals.")
     print("Press Ctrl+C to stop.")
 
     def shutdown(*_: object) -> None:

From 6fef8dff0a83657ecee98f710b266603471d2963 Mon Sep 17 00:00:00 2001
From: spomichter <pomichterstash@gmail.com>
Date: Sun, 1 Mar 2026 17:51:06 +0000
Subject: [PATCH 4/9] fix(examples): init rerun and connect grpc before
 coordinator.start

rr.init + rr.connect_grpc must happen before the bridge starts,
otherwise rerun disables itself with no active sink
---
 examples/rerun_click_test.py | 15 +++++++++------
 1 file changed, 9 insertions(+), 6 deletions(-)

diff --git a/examples/rerun_click_test.py b/examples/rerun_click_test.py
index d289a936b9..3607e6b1a1 100644
--- a/examples/rerun_click_test.py
+++ b/examples/rerun_click_test.py
@@ -91,10 +91,18 @@ def main() -> None:
     # Configure global config
     if args.simulation:
         global_config.update(simulation=True)
-        global_config.update(viewer_backend="rerun")
+    global_config.update(viewer_backend="rerun")
     if args.robot_ip:
         global_config.update(robot_ip=args.robot_ip)
 
+    # Initialize rerun and connect to custom viewer BEFORE building blueprint.
+    # This must happen before coordinator.start() so the bridge's rr.init("dimos")
+    # finds an active sink and doesn't disable rerun.
+    print(f"Connecting to custom Rerun viewer at {args.viewer_url}...")
+    rr.init("dimos")
+    rr.connect_grpc(args.viewer_url)
+    print("Connected to viewer.")
+
     print("Building blueprint...")
     with_vis = autoconnect(_transports_base, rerun_bridge(**_rerun_config()))
 
@@ -119,11 +127,6 @@ def main() -> None:
 
     print("Starting modules...")
     coordinator.start()
-
-    # Connect to the custom viewer's gRPC endpoint
-    print(f"Connecting to custom Rerun viewer at {args.viewer_url}...")
-    rr.connect_grpc(args.viewer_url)
-    print("Connected!")
     print()
     print("Click on entities in the Rerun viewer to send navigation goals.")
     print("Press Ctrl+C to stop.")

From 17f8c86cc68ba22048713f62a943ded0db6320d0 Mon Sep 17 00:00:00 2001
From: spomichter <pomichterstash@gmail.com>
Date: Sun, 1 Mar 2026 17:56:53 +0000
Subject: [PATCH 5/9] fix(examples): connect grpc after bridge start to avoid
 double rr.init

the bridge calls rr.init('dimos') in start(). calling rr.init before
that resets the recording stream. now we connect_grpc after start()
so the bridge's rr.init creates the stream, then we add our gRPC sink.
---
 examples/rerun_click_test.py | 70 +++++++++++++++++-------------------
 1 file changed, 33 insertions(+), 37 deletions(-)

diff --git a/examples/rerun_click_test.py b/examples/rerun_click_test.py
index 3607e6b1a1..713e5d5156 100644
--- a/examples/rerun_click_test.py
+++ b/examples/rerun_click_test.py
@@ -27,17 +27,15 @@
 The custom viewer listens on gRPC port 9877 and publishes PointStamped
 clicks to /clicked_point via LCM UDP multicast.
 
-This script runs the Go2 smart blueprint with viewer_mode="none" (no
-built-in viewer) and connects to the custom viewer's gRPC endpoint.
+This script uses the standard Go2 smart blueprint but overrides the
+viewer_backend to avoid the built-in rerun bridge (which would spawn
+its own viewer). Instead it connects to the custom viewer externally.
 """
 
 import argparse
 import signal
 import sys
 import time
-from typing import Any
-
-import rerun as rr
 
 from dimos.core.blueprints import autoconnect
 from dimos.core.global_config import global_config
@@ -47,13 +45,6 @@
 from dimos.msgs.geometry_msgs import PointStamped
 from dimos.navigation.replanning_a_star.module import replanning_a_star_planner
 from dimos.protocol.pubsub.impl.lcmpubsub import LCM
-from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import (
-    _convert_camera_info,
-    _convert_global_map,
-    _convert_navigation_costmap,
-    _static_base_link,
-    _transports_base,
-)
 from dimos.robot.unitree.go2.connection import go2_connection
 from dimos.visualization.rerun.bridge import rerun_bridge
 from dimos.web.websocket_vis.websocket_vis_module import websocket_vis
@@ -61,21 +52,6 @@
 CUSTOM_VIEWER_URL = "rerun+http://127.0.0.1:9877/proxy"
 
 
-def _rerun_config() -> dict[str, Any]:
-    return {
-        "pubsubs": [LCM(autoconf=True)],
-        "viewer_mode": "none",  # don't spawn viewer — we use the custom one
-        "visual_override": {
-            "world/camera_info": _convert_camera_info,
-            "world/global_map": _convert_global_map,
-            "world/navigation_costmap": _convert_navigation_costmap,
-        },
-        "static": {
-            "world/tf/base_link": _static_base_link,
-        },
-    }
-
-
 def main() -> None:
     parser = argparse.ArgumentParser(description="Rerun click-to-navigate test")
     parser.add_argument("--simulation", action="store_true", help="Run in simulation (mujoco)")
@@ -88,23 +64,28 @@ def main() -> None:
     )
     args = parser.parse_args()
 
-    # Configure global config
+    # Configure global config BEFORE any imports that read it
     if args.simulation:
         global_config.update(simulation=True)
-    global_config.update(viewer_backend="rerun")
     if args.robot_ip:
         global_config.update(robot_ip=args.robot_ip)
 
-    # Initialize rerun and connect to custom viewer BEFORE building blueprint.
-    # This must happen before coordinator.start() so the bridge's rr.init("dimos")
-    # finds an active sink and doesn't disable rerun.
-    print(f"Connecting to custom Rerun viewer at {args.viewer_url}...")
-    rr.init("dimos")
-    rr.connect_grpc(args.viewer_url)
-    print("Connected to viewer.")
+    # Use the rerun bridge with viewer_mode="native" but point it at
+    # our custom viewer's gRPC port via RERUN_CONNECT_ADDR env var.
+    # This way the bridge handles rr.init + rr.spawn normally, but
+    # spawn connects to our already-running custom viewer.
+    #
+    # Actually, rr.spawn starts a NEW viewer process. We don't want that.
+    # Instead: use "none" mode and call connect_grpc AFTER bridge.start().
+    global_config.update(viewer_backend="rerun")
+
+    rerun_config = {
+        "pubsubs": [LCM(autoconf=True)],
+        "viewer_mode": "none",
+    }
 
     print("Building blueprint...")
-    with_vis = autoconnect(_transports_base, rerun_bridge(**_rerun_config()))
+    with_vis = autoconnect(rerun_bridge(**rerun_config))
 
     blueprint = (
         autoconnect(
@@ -127,6 +108,21 @@ def main() -> None:
 
     print("Starting modules...")
     coordinator.start()
+
+    # Connect to the custom viewer AFTER coordinator.start() so that
+    # rr.init("dimos") from the bridge has already run. This adds our
+    # gRPC sink to the existing recording stream.
+    import rerun as rr
+
+    print(f"Connecting to custom Rerun viewer at {args.viewer_url}...")
+    rr.connect_grpc(args.viewer_url)
+
+    if not rr.is_enabled():
+        print("WARNING: Rerun is disabled. Data won't reach the viewer.")
+        print("Try: rr.init('dimos') manually before this point.")
+    else:
+        print("Connected!")
+
     print()
     print("Click on entities in the Rerun viewer to send navigation goals.")
     print("Press Ctrl+C to stop.")

From effe6cc9ddfaca82e2908735e83f0813d3792f34 Mon Sep 17 00:00:00 2001
From: spomichter <pomichterstash@gmail.com>
Date: Sun, 1 Mar 2026 18:04:35 +0000
Subject: [PATCH 6/9] fix(examples): init rerun in main process before
 connect_grpc

the bridge runs in a worker subprocess (multiprocessing), so its
rr.init() only affects that subprocess. the main process needs its
own rr.init() + connect_grpc() for data to reach the viewer.

also adds --replay flag for headless testing.
---
 examples/rerun_click_test.py | 51 +++++++++++++-----------------------
 1 file changed, 18 insertions(+), 33 deletions(-)

diff --git a/examples/rerun_click_test.py b/examples/rerun_click_test.py
index 713e5d5156..8c12f55cca 100644
--- a/examples/rerun_click_test.py
+++ b/examples/rerun_click_test.py
@@ -22,14 +22,13 @@
     2. Run this script (simulation mode):
        uv run python examples/rerun_click_test.py --simulation
 
+    Or replay mode (no robot, headless):
+       uv run python examples/rerun_click_test.py --replay
+
     3. Click on entities in the Rerun viewer → robot navigates to click position.
 
 The custom viewer listens on gRPC port 9877 and publishes PointStamped
 clicks to /clicked_point via LCM UDP multicast.
-
-This script uses the standard Go2 smart blueprint but overrides the
-viewer_backend to avoid the built-in rerun bridge (which would spawn
-its own viewer). Instead it connects to the custom viewer externally.
 """
 
 import argparse
@@ -37,6 +36,8 @@
 import sys
 import time
 
+import rerun as rr
+
 from dimos.core.blueprints import autoconnect
 from dimos.core.global_config import global_config
 from dimos.core.transport import LCMTransport
@@ -55,6 +56,7 @@
 def main() -> None:
     parser = argparse.ArgumentParser(description="Rerun click-to-navigate test")
     parser.add_argument("--simulation", action="store_true", help="Run in simulation (mujoco)")
+    parser.add_argument("--replay", action="store_true", help="Run in replay mode (no robot)")
     parser.add_argument("--robot-ip", type=str, default=None, help="Robot IP (for real hardware)")
     parser.add_argument(
         "--viewer-url",
@@ -64,27 +66,25 @@ def main() -> None:
     )
     args = parser.parse_args()
 
-    # Configure global config BEFORE any imports that read it
+    # Configure global config
     if args.simulation:
         global_config.update(simulation=True)
+    if args.replay:
+        global_config.update(replay=True)
+    global_config.update(viewer_backend="rerun")
     if args.robot_ip:
         global_config.update(robot_ip=args.robot_ip)
 
-    # Use the rerun bridge with viewer_mode="native" but point it at
-    # our custom viewer's gRPC port via RERUN_CONNECT_ADDR env var.
-    # This way the bridge handles rr.init + rr.spawn normally, but
-    # spawn connects to our already-running custom viewer.
-    #
-    # Actually, rr.spawn starts a NEW viewer process. We don't want that.
-    # Instead: use "none" mode and call connect_grpc AFTER bridge.start().
-    global_config.update(viewer_backend="rerun")
-
-    rerun_config = {
-        "pubsubs": [LCM(autoconf=True)],
-        "viewer_mode": "none",
-    }
+    # Initialize rerun in the MAIN process and connect to the custom viewer.
+    # The bridge runs in a worker subprocess via multiprocessing, so its
+    # rr.init() only affects that subprocess. We need our own rr.init() +
+    # connect_grpc() in the main process for rr.log() calls to reach the viewer.
+    rr.init("dimos")
+    rr.connect_grpc(args.viewer_url)
+    print(f"Connected to custom Rerun viewer at {args.viewer_url}")
 
     print("Building blueprint...")
+    rerun_config = {"pubsubs": [LCM(autoconf=True)], "viewer_mode": "none"}
     with_vis = autoconnect(rerun_bridge(**rerun_config))
 
     blueprint = (
@@ -108,21 +108,6 @@ def main() -> None:
 
     print("Starting modules...")
     coordinator.start()
-
-    # Connect to the custom viewer AFTER coordinator.start() so that
-    # rr.init("dimos") from the bridge has already run. This adds our
-    # gRPC sink to the existing recording stream.
-    import rerun as rr
-
-    print(f"Connecting to custom Rerun viewer at {args.viewer_url}...")
-    rr.connect_grpc(args.viewer_url)
-
-    if not rr.is_enabled():
-        print("WARNING: Rerun is disabled. Data won't reach the viewer.")
-        print("Try: rr.init('dimos') manually before this point.")
-    else:
-        print("Connected!")
-
     print()
     print("Click on entities in the Rerun viewer to send navigation goals.")
     print("Press Ctrl+C to stop.")

From 4aa63ec7a82d439a105b095af2dfb2f1c1153e5d Mon Sep 17 00:00:00 2001
From: spomichter <pomichterstash@gmail.com>
Date: Sun, 1 Mar 2026 18:11:49 +0000
Subject: [PATCH 7/9] feat(rerun): add viewer_mode=connect for external viewer
 support
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

adds connect mode to rerun bridge — connects to an external viewer
via grpc instead of spawning a new one. needed for custom viewers
like the click-to-navigate fork.

example script now works like a normal blueprint.

DIM-643
---
 dimos/visualization/rerun/bridge.py |   5 +-
 examples/rerun_click_test.py        | 126 ++++++++++------------------
 2 files changed, 46 insertions(+), 85 deletions(-)

diff --git a/dimos/visualization/rerun/bridge.py b/dimos/visualization/rerun/bridge.py
index af91f1b8b8..47bce27dcf 100644
--- a/dimos/visualization/rerun/bridge.py
+++ b/dimos/visualization/rerun/bridge.py
@@ -123,7 +123,7 @@ class RerunConvertible(Protocol):
     def to_rerun(self) -> RerunData: ...
 
 
-ViewerMode = Literal["native", "web", "none"]
+ViewerMode = Literal["native", "web", "connect", "none"]
 
 
 def _default_blueprint() -> Blueprint:
@@ -158,6 +158,7 @@ class Config(ModuleConfig):
     entity_prefix: str = "world"
     topic_to_entity: Callable[[Any], str] | None = None
     viewer_mode: ViewerMode = "native"
+    connect_url: str = "rerun+http://127.0.0.1:9877/proxy"
     memory_limit: str = "25%"
 
     # Blueprint factory: callable(rrb) -> Blueprint for viewer layout configuration
@@ -265,6 +266,8 @@ def start(self) -> None:
         elif self.config.viewer_mode == "web":
             server_uri = rr.serve_grpc()
             rr.serve_web_viewer(connect_to=server_uri, open_browser=False)
+        elif self.config.viewer_mode == "connect":
+            rr.connect_grpc(self.config.connect_url)
         # "none" - just init, no viewer (connect externally)
 
         if self.config.blueprint:
diff --git a/examples/rerun_click_test.py b/examples/rerun_click_test.py
index 8c12f55cca..adbdfc7860 100644
--- a/examples/rerun_click_test.py
+++ b/examples/rerun_click_test.py
@@ -19,110 +19,68 @@
     1. Start the custom rerun viewer (with LCM click support):
        ./target/release/custom_callback_viewer
 
-    2. Run this script (simulation mode):
+    2. Run this script:
        uv run python examples/rerun_click_test.py --simulation
 
-    Or replay mode (no robot, headless):
-       uv run python examples/rerun_click_test.py --replay
-
     3. Click on entities in the Rerun viewer → robot navigates to click position.
-
-The custom viewer listens on gRPC port 9877 and publishes PointStamped
-clicks to /clicked_point via LCM UDP multicast.
 """
 
-import argparse
-import signal
-import sys
-import time
-
-import rerun as rr
-
 from dimos.core.blueprints import autoconnect
-from dimos.core.global_config import global_config
 from dimos.core.transport import LCMTransport
 from dimos.mapping.costmapper import cost_mapper
 from dimos.mapping.voxels import voxel_mapper
 from dimos.msgs.geometry_msgs import PointStamped
 from dimos.navigation.replanning_a_star.module import replanning_a_star_planner
 from dimos.protocol.pubsub.impl.lcmpubsub import LCM
+from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import (
+    _convert_camera_info,
+    _convert_global_map,
+    _convert_navigation_costmap,
+    _static_base_link,
+    _transports_base,
+)
 from dimos.robot.unitree.go2.connection import go2_connection
 from dimos.visualization.rerun.bridge import rerun_bridge
 from dimos.web.websocket_vis.websocket_vis_module import websocket_vis
 
 CUSTOM_VIEWER_URL = "rerun+http://127.0.0.1:9877/proxy"
 
-
-def main() -> None:
-    parser = argparse.ArgumentParser(description="Rerun click-to-navigate test")
-    parser.add_argument("--simulation", action="store_true", help="Run in simulation (mujoco)")
-    parser.add_argument("--replay", action="store_true", help="Run in replay mode (no robot)")
-    parser.add_argument("--robot-ip", type=str, default=None, help="Robot IP (for real hardware)")
-    parser.add_argument(
-        "--viewer-url",
-        type=str,
-        default=CUSTOM_VIEWER_URL,
-        help="Custom viewer gRPC URL",
+rerun_config = {
+    "pubsubs": [LCM(autoconf=True)],
+    "viewer_mode": "connect",
+    "connect_url": CUSTOM_VIEWER_URL,
+    "visual_override": {
+        "world/camera_info": _convert_camera_info,
+        "world/global_map": _convert_global_map,
+        "world/navigation_costmap": _convert_navigation_costmap,
+    },
+    "static": {
+        "world/tf/base_link": _static_base_link,
+    },
+}
+
+with_vis = autoconnect(_transports_base, rerun_bridge(**rerun_config))
+
+rerun_click_test = (
+    autoconnect(
+        with_vis,
+        go2_connection(),
+        websocket_vis(),
+        voxel_mapper(voxel_size=0.1),
+        cost_mapper(),
+        replanning_a_star_planner(),
     )
-    args = parser.parse_args()
-
-    # Configure global config
-    if args.simulation:
-        global_config.update(simulation=True)
-    if args.replay:
-        global_config.update(replay=True)
-    global_config.update(viewer_backend="rerun")
-    if args.robot_ip:
-        global_config.update(robot_ip=args.robot_ip)
-
-    # Initialize rerun in the MAIN process and connect to the custom viewer.
-    # The bridge runs in a worker subprocess via multiprocessing, so its
-    # rr.init() only affects that subprocess. We need our own rr.init() +
-    # connect_grpc() in the main process for rr.log() calls to reach the viewer.
-    rr.init("dimos")
-    rr.connect_grpc(args.viewer_url)
-    print(f"Connected to custom Rerun viewer at {args.viewer_url}")
-
-    print("Building blueprint...")
-    rerun_config = {"pubsubs": [LCM(autoconf=True)], "viewer_mode": "none"}
-    with_vis = autoconnect(rerun_bridge(**rerun_config))
-
-    blueprint = (
-        autoconnect(
-            with_vis,
-            go2_connection(),
-            websocket_vis(),
-            voxel_mapper(voxel_size=0.1),
-            cost_mapper(),
-            replanning_a_star_planner(),
-        )
-        .transports(
-            {
-                ("clicked_point", PointStamped): LCMTransport("/clicked_point", PointStamped),
-            }
-        )
-        .global_config(n_workers=6, robot_model="unitree_go2")
+    .transports(
+        {
+            ("clicked_point", PointStamped): LCMTransport("/clicked_point", PointStamped),
+        }
     )
+    .global_config(n_workers=6, robot_model="unitree_go2")
+)
 
-    coordinator = blueprint.build()
-
-    print("Starting modules...")
+if __name__ == "__main__":
+    coordinator = rerun_click_test.build()
     coordinator.start()
-    print()
-    print("Click on entities in the Rerun viewer to send navigation goals.")
-    print("Press Ctrl+C to stop.")
-
-    def shutdown(*_: object) -> None:
-        print("\nShutting down...")
-        coordinator.stop()
-        sys.exit(0)
+    import signal
 
-    signal.signal(signal.SIGINT, shutdown)
-    signal.signal(signal.SIGTERM, shutdown)
-
-    while True:
-        time.sleep(1)
-
-
-if __name__ == "__main__":
-    main()
+    signal.pause()

From d507ecf6de1f43acba74a6d2e88f32f3896d8c3b Mon Sep 17 00:00:00 2001
From: spomichter <pomichterstash@gmail.com>
Date: Sun, 1 Mar 2026 18:16:02 +0000
Subject: [PATCH 8/9] fix(examples): use build().loop() per readme convention

---
 examples/rerun_click_test.py | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/examples/rerun_click_test.py b/examples/rerun_click_test.py
index adbdfc7860..f78c88decb 100644
--- a/examples/rerun_click_test.py
+++ b/examples/rerun_click_test.py
@@ -79,8 +79,4 @@
 )
 
 if __name__ == "__main__":
-    coordinator = rerun_click_test.build()
-    coordinator.start()
-    import signal
-
-    signal.pause()
+    rerun_click_test.build().loop()

From 5df284cf774e8cbeef7c2f81e67b3efdf2a880ca Mon Sep 17 00:00:00 2001
From: spomichter <pomichterstash@gmail.com>
Date: Sun, 1 Mar 2026 18:21:17 +0000
Subject: [PATCH 9/9] feat(blueprints): add unitree-go2-click-nav blueprint

proper blueprint registered in all_blueprints. run with:
  dimos run unitree-go2-click-nav --simulation --viewer-backend rerun-connect

adds rerun-connect viewer backend that connects to an external
rerun viewer (custom fork) instead of spawning a new one.

DIM-643
---
 dimos/core/global_config.py                   |  2 +-
 dimos/robot/all_blueprints.py                 |  1 +
 .../go2/blueprints/basic/unitree_go2_basic.py |  6 ++
 .../blueprints/smart/unitree_go2_click_nav.py | 39 +++++++++
 examples/rerun_click_test.py                  | 82 -------------------
 5 files changed, 47 insertions(+), 83 deletions(-)
 create mode 100644 dimos/robot/unitree/go2/blueprints/smart/unitree_go2_click_nav.py
 delete mode 100644 examples/rerun_click_test.py

diff --git a/dimos/core/global_config.py b/dimos/core/global_config.py
index 3660a957dc..15c37186ac 100644
--- a/dimos/core/global_config.py
+++ b/dimos/core/global_config.py
@@ -19,7 +19,7 @@
 
 from dimos.mapping.occupancy.path_map import NavigationStrategy
 
-ViewerBackend: TypeAlias = Literal["rerun", "rerun-web", "foxglove", "none"]
+ViewerBackend: TypeAlias = Literal["rerun", "rerun-web", "rerun-connect", "foxglove", "none"]
 
 
 def _get_all_numbers(s: str) -> list[float]:
diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py
index 6026572388..2bf585273b 100644
--- a/dimos/robot/all_blueprints.py
+++ b/dimos/robot/all_blueprints.py
@@ -76,6 +76,7 @@
     "unitree-go2-agentic-mcp": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic_mcp:unitree_go2_agentic_mcp",
     "unitree-go2-agentic-ollama": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic_ollama:unitree_go2_agentic_ollama",
     "unitree-go2-basic": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic:unitree_go2_basic",
+    "unitree-go2-click-nav": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_click_nav:unitree_go2_click_nav",
     "unitree-go2-detection": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_detection:unitree_go2_detection",
     "unitree-go2-ros": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_ros:unitree_go2_ros",
     "unitree-go2-spatial": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_spatial:unitree_go2_spatial",
diff --git a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py
index 2537e86632..92e48fbb95 100644
--- a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py
+++ b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py
@@ -105,6 +105,12 @@ def _static_base_link(rr: Any) -> list[Any]:
         from dimos.visualization.rerun.bridge import rerun_bridge
 
         with_vis = autoconnect(_transports_base, rerun_bridge(**rerun_config))
+    case "rerun-connect":
+        from dimos.visualization.rerun.bridge import rerun_bridge
+
+        with_vis = autoconnect(
+            _transports_base, rerun_bridge(viewer_mode="connect", **rerun_config)
+        )
     case "rerun-web":
         from dimos.visualization.rerun.bridge import rerun_bridge
 
diff --git a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_click_nav.py b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_click_nav.py
new file mode 100644
index 0000000000..fb083a289c
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_click_nav.py
@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dimos.core.blueprints import autoconnect
+from dimos.core.transport import LCMTransport
+from dimos.mapping.costmapper import cost_mapper
+from dimos.mapping.voxels import voxel_mapper
+from dimos.msgs.geometry_msgs import PointStamped
+from dimos.navigation.replanning_a_star.module import replanning_a_star_planner
+from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import unitree_go2_basic
+
+unitree_go2_click_nav = (
+    autoconnect(
+        unitree_go2_basic,
+        voxel_mapper(voxel_size=0.1),
+        cost_mapper(),
+        replanning_a_star_planner(),
+    )
+    .transports(
+        {
+            ("clicked_point", PointStamped): LCMTransport("/clicked_point", PointStamped),
+        }
+    )
+    .global_config(n_workers=6, robot_model="unitree_go2")
+)
+
+__all__ = ["unitree_go2_click_nav"]
diff --git a/examples/rerun_click_test.py b/examples/rerun_click_test.py
deleted file mode 100644
index f78c88decb..0000000000
--- a/examples/rerun_click_test.py
+++ /dev/null
@@ -1,82 +0,0 @@
-#!/usr/bin/env python3
-# Copyright 2025-2026 Dimensional Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""E2E test: Rerun viewer click → Go2 navigation goal.
-
-Usage:
-    1. Start the custom rerun viewer (with LCM click support):
-       ./target/release/custom_callback_viewer
-
-    2. Run this script:
-       uv run python examples/rerun_click_test.py --simulation
-
-    3. Click on entities in the Rerun viewer → robot navigates to click position.
-"""
-
-from dimos.core.blueprints import autoconnect
-from dimos.core.transport import LCMTransport
-from dimos.mapping.costmapper import cost_mapper
-from dimos.mapping.voxels import voxel_mapper
-from dimos.msgs.geometry_msgs import PointStamped
-from dimos.navigation.replanning_a_star.module import replanning_a_star_planner
-from dimos.protocol.pubsub.impl.lcmpubsub import LCM
-from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import (
-    _convert_camera_info,
-    _convert_global_map,
-    _convert_navigation_costmap,
-    _static_base_link,
-    _transports_base,
-)
-from dimos.robot.unitree.go2.connection import go2_connection
-from dimos.visualization.rerun.bridge import rerun_bridge
-from dimos.web.websocket_vis.websocket_vis_module import websocket_vis
-
-CUSTOM_VIEWER_URL = "rerun+http://127.0.0.1:9877/proxy"
-
-rerun_config = {
-    "pubsubs": [LCM(autoconf=True)],
-    "viewer_mode": "connect",
-    "connect_url": CUSTOM_VIEWER_URL,
-    "visual_override": {
-        "world/camera_info": _convert_camera_info,
-        "world/global_map": _convert_global_map,
-        "world/navigation_costmap": _convert_navigation_costmap,
-    },
-    "static": {
-        "world/tf/base_link": _static_base_link,
-    },
-}
-
-with_vis = autoconnect(_transports_base, rerun_bridge(**rerun_config))
-
-rerun_click_test = (
-    autoconnect(
-        with_vis,
-        go2_connection(),
-        websocket_vis(),
-        voxel_mapper(voxel_size=0.1),
-        cost_mapper(),
-        replanning_a_star_planner(),
-    )
-    .transports(
-        {
-            ("clicked_point", PointStamped): LCMTransport("/clicked_point", PointStamped),
-        }
-    )
-    .global_config(n_workers=6, robot_model="unitree_go2")
-)
-
-if __name__ == "__main__":
-    rerun_click_test.build().loop()