fix(rerun): only rate-limit heavy message types (Image, PointCloud2)

[spomichter]

Problem

PR #1509 added blanket per-entity-path rate-limiting (10 Hz max) to the Rerun bridge to prevent viewer OOM from high-bandwidth camera streams. This inadvertently dropped low-frequency but critical messages like navigation Path and PointStamped (click-to-nav), breaking path visualization in the viewer.

Fix

Only rate-limit message types with large payloads that actually cause viewer OOM:

• Image (~1 MB/frame at 30 fps)
• PointCloud2 (~600-800 KB/frame from lidar)

Light messages (Path, PointStamped, Twist, TF, EntityMarkers, etc.) now pass through unthrottled.

Changes

• Added _HEAVY_MSG_TYPES = (Image, PointCloud2) tuple
• Rate limiter now checks isinstance(msg, _HEAVY_MSG_TYPES) before throttling
• One-line logic change + imports

Testing

• Verified imports resolve correctly
• Image and PointCloud2 are the only types with payloads large enough to cause OOM
• All other message types pass through instantly, fixing click-to-nav path rendering

[greptile-apps]

Greptile Summary

This PR narrows the Rerun bridge's rate-limiting guard (introduced in #1509) so it only applies to the two message types that carry large payloads — Image and PointCloud2 — instead of every entity path. This restores pass-through delivery for lightweight navigation messages (Path, PointStamped, Twist, TF, etc.) that were previously being dropped at the 10 Hz cap, fixing broken path visualization and click-to-navigate functionality.

• Added module-level _HEAVY_MSG_TYPES = (Image, PointCloud2) constant with a clear explanatory comment
• Changed the rate-limit condition from if self.config.min_interval_sec > 0 to if self.config.min_interval_sec > 0 and isinstance(msg, _HEAVY_MSG_TYPES), so only heavy messages are throttled
• Minor style inconsistency in imports: PointCloud2 is imported directly from its module (dimos.msgs.sensor_msgs.PointCloud2) while Image is imported via the package __init__; since both are exported from dimos.msgs.sensor_msgs, a single unified import would be cleaner

Confidence Score: 5/5

• Safe to merge — the one-line logic change is correct and well-targeted, with no risk of regressions.
• The change is minimal and surgical: a single isinstance guard added to an already-working rate-limit block. Image and PointCloud2 are both correctly imported and are concrete types whose isinstance check will also cover any future subclasses. Light messages now skip the throttle entirely, restoring the previously broken navigation overlay. No data loss, no concurrency concerns, no side effects on the rest of the bridge.
• No files require special attention.

Important Files Changed

Filename	Overview
dimos/visualization/rerun/bridge.py	Rate-limiting guard narrowed from all message types to only Image and PointCloud2; logic is correct and well-commented. Minor style issue: PointCloud2 import uses a direct module path while Image uses the package __init__ — both are available from the package directly.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[Pubsub message received] --> B[_on_message]
    B --> C[Compute entity_path]
    C --> D{min_interval_sec > 0\nAND isinstance msg,\n_HEAVY_MSG_TYPES?}
    D -- No\n light msg e.g. Path, PointStamped, TF --> F[Apply visual override / to_rerun]
    D -- Yes\n Image or PointCloud2 --> E{now - last_log\n< min_interval_sec?}
    E -- Too soon --> G[Drop frame / return]
    E -- OK --> H[Update _last_log timestamp]
    H --> F
    F --> I{rerun_data is None?}
    I -- Yes --> J[Suppress / return]
    I -- No --> K{is_rerun_multi?}
    K -- Yes --> L[rr.log each path+archetype]
    K -- No --> M[rr.log entity_path, archetype]

Loading

_{Last reviewed commit: 1083f46}