FIX: multiprocess

assets/foxglove_unitree_lcm_dashboard.json

@@ -0,0 +1,221 @@
+{
+  "configById": {
+    "3D!18i6zy7": {
+      "layers": {
+        "845139cb-26bc-40b3-8161-8ab60af4baf5": {
+          "visible": true,
+          "frameLocked": true,
+          "label": "Grid",
+          "instanceId": "845139cb-26bc-40b3-8161-8ab60af4baf5",
+          "layerId": "foxglove.Grid",
+          "lineWidth": 0.5,
+          "position": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "order": 1,
+          "size": 30,
+          "divisions": 30
+        }
+      },
+      "cameraState": {
+        "perspective": true,
+        "distance": 22.16066481982733,
+        "phi": 34.816360162458444,
+        "thetaOffset": 110.38709006815255,
+        "targetOffset": [
+          0.6543165797799305,
+          -5.069343424147507,
+          5.603018248159094e-16
+        ],
+        "target": [
+          0,
+          0,
+          0
+        ],
+        "targetOrientation": [
+          0,
+          0,
+          0,
+          1
+        ],
+        "fovy": 45,
+        "near": 0.5,
+        "far": 5000
+      },
+      "followMode": "follow-pose",
+      "scene": {
+        "enableStats": true,
+        "ignoreColladaUpAxis": false,
+        "syncCamera": false
+      },
+      "transforms": {},
+      "topics": {
+        "/lidar": {
+          "stixelsEnabled": false,
+          "visible": true,
+          "colorField": "z",
+          "colorMode": "colormap",
+          "colorMap": "turbo",
+          "pointShape": "square",
+          "pointSize": 10,
+          "explicitAlpha": 1,
+          "minValue": -0.1,
+          "decayTime": 0,
+          "cubeSize": 0.06
+        },
+        "/odom": {
+          "visible": true,
+          "axisScale": 1
+        },
+        "/video": {
+          "visible": false
+        },
+        "/global_map": {
+          "visible": true,
+          "colorField": "z",
+          "colorMode": "colormap",
+          "colorMap": "turbo",
+          "pointSize": 10,
+          "minValue": -0.1,
+          "decayTime": 0,
+          "pointShape": "square",
+          "cubeOutline": false,
+          "cubeSize": 0.05,
+          "gradient": [
+            "#06011dff",
+            "#d1e2e2ff"
+          ],
+          "stixelsEnabled": false
+        }
+      },
+      "publish": {
+        "type": "point",
+        "poseTopic": "/move_base_simple/goal",
+        "pointTopic": "/clicked_point",
+        "poseEstimateTopic": "/estimate",
+        "poseEstimateXDeviation": 0.5,
+        "poseEstimateYDeviation": 0.5,
+        "poseEstimateThetaDeviation": 0.26179939
+      },
+      "imageMode": {},
+      "foxglovePanelTitle": "test"
+    },
+    "Image!3mnp456": {
+      "cameraState": {
+        "distance": 20,
+        "perspective": true,
+        "phi": 60,
+        "target": [
+          0,
+          0,
+          0
+        ],
+        "targetOffset": [
+          0,
+          0,
+          0
+        ],
+        "targetOrientation": [
+          0,
+          0,
+          0,
+          1
+        ],
+        "thetaOffset": 45,
+        "fovy": 45,
+        "near": 0.5,
+        "far": 5000
+      },
+      "followMode": "follow-pose",
+      "scene": {
+        "enableStats": true
+      },
+      "transforms": {},
+      "topics": {},
+      "layers": {},
+      "publish": {
+        "type": "point",
+        "poseTopic": "/move_base_simple/goal",
+        "pointTopic": "/clicked_point",
+        "poseEstimateTopic": "/initialpose",
+        "poseEstimateXDeviation": 0.5,
+        "poseEstimateYDeviation": 0.5,
+        "poseEstimateThetaDeviation": 0.26179939
+      },
+      "imageMode": {
+        "imageTopic": "/video",
+        "colorMode": "gradient"
+      },
+      "foxglovePanelTitle": "/video"
+    },
+    "RawMessages!os6rgs": {
+      "diffEnabled": true,
+      "diffMethod": "previous message",
+      "diffTopicPath": "/lidar",
+      "showFullMessageForDiff": false,
+      "topicPath": "/odom",
+      "fontSize": 12
+    },
+    "Plot!a1gj37": {
+      "paths": [
+        {
+          "timestampMethod": "receiveTime",
+          "value": "/odom.pose.position.y",
+          "enabled": true,
+          "color": "#4e98e2"
+        },
+        {
+          "timestampMethod": "receiveTime",
+          "value": "/odom.pose.position.x",
+          "enabled": true,
+          "color": "#f5774d"
+        },
+        {
+          "timestampMethod": "receiveTime",
+          "value": "/odom.pose.position.z",
+          "enabled": true,
+          "color": "#f7df71"
+        }
+      ],
+      "showXAxisLabels": true,
+      "showYAxisLabels": true,
+      "showLegend": true,
+      "legendDisplay": "floating",
+      "showPlotValuesInLegend": false,
+      "isSynced": true,
+      "xAxisVal": "timestamp",
+      "sidebarDimension": 240
+    }
+  },
+  "globalVariables": {},
+  "userNodes": {},
+  "playbackConfig": {
+    "speed": 1
+  },
+  "drawerConfig": {
+    "tracks": []
+  },
+  "layout": {
+    "first": "3D!18i6zy7",
+    "second": {
+      "first": "Image!3mnp456",
+      "second": {
+        "first": "RawMessages!os6rgs",
+        "second": "Plot!a1gj37",
+        "direction": "row",
+        "splitPercentage": 21.133036282622545
+      },
+      "direction": "column",
+      "splitPercentage": 45.83732057416268
+    },
+    "direction": "row",
+    "splitPercentage": 61.01509144891709
+  }
+}

bin/lcmspy

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+# current script dir + ..dimos
+
+
+script_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+python $script_dir/../dimos/utils/cli/lcmspy_cli.py "$@" 

dimos/core/__init__.py

@@ -4,7 +4,6 @@
 import time
 from typing import Optional
 
-import pytest
 from dask.distributed import Client, LocalCluster
 from rich.console import Console
 
@@ -82,14 +81,6 @@ def deploy(
     return dask_client
 
 
-@pytest.fixture
-def dimos():
-    process_count = 3  # we chill
-    client = start(process_count)
-    yield client
-    stop(client)
-
-
 def start(n: Optional[int] = None) -> Client:
     console = Console()
     if not n:

dimos/core/test_core.py

@@ -24,19 +24,25 @@
     Out,
     RemoteOut,
     ZenohTransport,
-    dimos,
     pLCMTransport,
     rpc,
     start,
+    stop,
 )
 from dimos.robot.unitree_webrtc.type.lidar import LidarMessage
 from dimos.robot.unitree_webrtc.type.odometry import Odometry
 from dimos.types.vector import Vector
 from dimos.utils.testing import SensorReplay
 
 # never delete this line
-if dimos:
-    ...
+
+
+@pytest.fixture
+def dimos():
+    """Fixture to create a Dimos client for testing."""
+    client = start(2)
+    yield client
+    stop(client)
 
 
 class RobotClient(Module):

dimos/msgs/geometry_msgs/PoseStamped.py

@@ -48,7 +48,7 @@ class PoseStamped(Pose, Timestamped):
     @dispatch
     def __init__(self, *args, ts: float = 0, frame_id: str = "", **kwargs) -> None:
         self.frame_id = frame_id
-        self.ts = ts if ts is not 0 else time.time()
+        self.ts = ts if ts != 0 else time.time()
         super().__init__(*args, **kwargs)
 
     def lcm_encode(self) -> bytes:

dimos/protocol/rpc/spec.py

@@ -81,7 +81,7 @@ def call(*args, fname=fname):
 
 
 class RPCServer(Protocol):
-    def serve(self, f: Callable, name: str) -> None: ...
+    def serve_rpc(self, f: Callable, name: str) -> None: ...
 
 
 class RPC(RPCServer, RPCClient): ...

dimos/protocol/service/lcmservice.py

@@ -18,6 +18,8 @@
 import sys
 import threading
 import traceback
+import os
+from functools import cache
 from dataclasses import dataclass
 from typing import Any, Callable, Optional, Protocol, runtime_checkable
 
@@ -26,27 +28,39 @@
 from dimos.protocol.service.spec import Service
 
 
+@cache
+def check_root() -> bool:
+    """Return True if the current process is running as root (UID 0)."""
+    try:
+        return os.geteuid() == 0  # type: ignore[attr-defined]
+    except AttributeError:
+        # Platforms without geteuid (e.g. Windows) – assume non-root.
+        return False
+
+
 def check_multicast() -> list[str]:
     """Check if multicast configuration is needed and return required commands."""
     commands_needed = []
 
+    sudo = "" if check_root() else "sudo "
+
     # Check if loopback interface has multicast enabled
     try:
         result = subprocess.run(["ip", "link", "show", "lo"], capture_output=True, text=True)
         if "MULTICAST" not in result.stdout:
-            commands_needed.append("sudo ifconfig lo multicast")
+            commands_needed.append(f"{sudo}ifconfig lo multicast")
     except Exception:
-        commands_needed.append("sudo ifconfig lo multicast")
+        commands_needed.append(f"{sudo}ifconfig lo multicast")
 
     # Check if multicast route exists
     try:
         result = subprocess.run(
             ["ip", "route", "show", "224.0.0.0/4"], capture_output=True, text=True
         )
         if not result.stdout.strip():
-            commands_needed.append("sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev lo")
+            commands_needed.append(f"{sudo}route add -net 224.0.0.0 netmask 240.0.0.0 dev lo")
     except Exception:
-        commands_needed.append("sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev lo")
+        commands_needed.append(f"{sudo}route add -net 224.0.0.0 netmask 240.0.0.0 dev lo")
 
     return commands_needed
 
@@ -55,22 +69,24 @@ def check_buffers() -> list[str]:
     """Check if buffer configuration is needed and return required commands."""
     commands_needed = []
 
+    sudo = "" if check_root() else "sudo "
+
     # Check current buffer settings
     try:
         result = subprocess.run(["sysctl", "net.core.rmem_max"], capture_output=True, text=True)
         current_max = int(result.stdout.split("=")[1].strip())
         if current_max < 2097152:
-            commands_needed.append("sudo sysctl -w net.core.rmem_max=2097152")
+            commands_needed.append(f"{sudo}sysctl -w net.core.rmem_max=2097152")
     except Exception:
-        commands_needed.append("sudo sysctl -w net.core.rmem_max=2097152")
+        commands_needed.append(f"{sudo}sysctl -w net.core.rmem_max=2097152")
 
     try:
         result = subprocess.run(["sysctl", "net.core.rmem_default"], capture_output=True, text=True)
         current_default = int(result.stdout.split("=")[1].strip())
         if current_default < 2097152:
-            commands_needed.append("sudo sysctl -w net.core.rmem_default=2097152")
+            commands_needed.append(f"{sudo}sysctl -w net.core.rmem_default=2097152")
     except Exception:
-        commands_needed.append("sudo sysctl -w net.core.rmem_default=2097152")
+        commands_needed.append(f"{sudo}sysctl -w net.core.rmem_default=2097152")
 
     return commands_needed