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fix(rerun): only rate-limit heavy message types (Image, PointCloud2) #1521

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Merged
spomichter merged 2 commits into from
Mar 11, 2026
Merged

fix(rerun): only rate-limit heavy message types (Image, PointCloud2) #1521

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fix(rerun): only rate-limit heavy message types (Image, PointCloud2)
spomichter Mar 11, 2026
cba0c47
Fix import pointcloud2
spomichter Mar 11, 2026
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17 changes: 13 additions & 4 deletions dimos/visualization/rerun/bridge.py
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Original file line number Diff line number Diff line change
Expand Up @@ -36,10 +36,18 @@

from dimos.core.core import rpc
from dimos.core.module import Module, ModuleConfig
from dimos.msgs.sensor_msgs import Image, PointCloud2
from dimos.protocol.pubsub.impl.lcmpubsub import LCM
from dimos.protocol.pubsub.patterns import Glob, pattern_matches
from dimos.utils.logging_config import setup_logger

# Message types with large payloads that need rate-limiting.
# Image (~1 MB/frame at 30 fps) and PointCloud2 (~600-800 KB/frame)
# cause viewer OOM if logged at full rate. Light messages
# (Path, PointStamped, Twist, TF, EntityMarkers …) pass through
# unthrottled so navigation overlays and user input are never dropped.
_HEAVY_MSG_TYPES: tuple[type, ...] = (Image, PointCloud2)

RERUN_GRPC_PORT = 9876
RERUN_WEB_PORT = 9090

Expand Down Expand Up @@ -254,10 +262,11 @@ def _on_message(self, msg: Any, topic: Any) -> None:
# convert a potentially complex topic object into an str rerun entity path
entity_path: str = self._get_entity_path(topic)

# Rate-limit per entity path to prevent viewer memory exhaustion.
# High-bandwidth streams (e.g. 30fps camera) would otherwise flood
# the viewer with data faster than it can evict, causing OOM.
if self.config.min_interval_sec > 0:
# Rate-limit heavy data types to prevent viewer memory exhaustion.
# High-bandwidth streams (e.g. 30fps camera, lidar) would otherwise
# flood the viewer faster than it can evict, causing OOM. Light
# messages (Path, PointStamped, TF, etc.) pass through unthrottled.
if self.config.min_interval_sec > 0 and isinstance(msg, _HEAVY_MSG_TYPES):
now = time.monotonic()
last = self._last_log.get(entity_path, 0.0)
if now - last < self.config.min_interval_sec:
Expand Down
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