WIP: foxglove bridge stub

.gitignore

@@ -1,11 +1,12 @@
-.venv/
 .vscode/
 
 # Ignore Python cache files
 __pycache__/
 *.pyc
-.venv*
-venv*
+
+# Ignore virtual environment directories
+*venv*/
+.venv*/
 .ssh/
 
 # Ignore python tooling dirs

dimos/msgs/geometry_msgs/Pose.py

@@ -19,7 +19,7 @@
 from io import BytesIO
 from typing import BinaryIO, TypeAlias
 
-from lcm_msgs.geometry_msgs import Pose as LCMPose
+from dimos_lcm.geometry_msgs import Pose as LCMPose
 from plum import dispatch
 
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion, QuaternionConvertable

dimos/msgs/geometry_msgs/PoseStamped.py

@@ -17,9 +17,9 @@
 from io import BytesIO
 from typing import BinaryIO, TypeAlias
 
-from lcm_msgs.geometry_msgs import PoseStamped as LCMPoseStamped
-from lcm_msgs.std_msgs import Header as LCMHeader
-from lcm_msgs.std_msgs import Time as LCMTime
+from dimos_lcm.geometry_msgs import PoseStamped as LCMPoseStamped
+from dimos_lcm.std_msgs import Header as LCMHeader
+from dimos_lcm.std_msgs import Time as LCMTime
 from plum import dispatch
 
 from dimos.msgs.geometry_msgs.Pose import Pose

dimos/msgs/geometry_msgs/Quaternion.py

@@ -20,7 +20,7 @@
 from typing import BinaryIO, TypeAlias
 
 import numpy as np
-from lcm_msgs.geometry_msgs import Quaternion as LCMQuaternion
+from dimos_lcm.geometry_msgs import Quaternion as LCMQuaternion
 from plum import dispatch
 
 from dimos.msgs.geometry_msgs.Vector3 import Vector3

dimos/msgs/geometry_msgs/Vector3.py

@@ -20,7 +20,7 @@
 from typing import BinaryIO, TypeAlias
 
 import numpy as np
-from lcm_msgs.geometry_msgs import Vector3 as LCMVector3
+from dimos_lcm.geometry_msgs import Vector3 as LCMVector3
 from plum import dispatch
 
 # Types that can be converted to/from Vector

dimos/msgs/geometry_msgs/test_Pose.py

@@ -16,7 +16,7 @@
 
 import numpy as np
 import pytest
-from lcm_msgs.geometry_msgs import Pose as LCMPose
+from dimos_lcm.geometry_msgs import Pose as LCMPose
 
 from dimos.msgs.geometry_msgs.Pose import Pose, to_pose
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion

dimos/msgs/geometry_msgs/test_Quaternion.py

@@ -14,7 +14,7 @@
 
 import numpy as np
 import pytest
-from lcm_msgs.geometry_msgs import Quaternion as LCMQuaternion
+from dimos_lcm.geometry_msgs import Quaternion as LCMQuaternion
 
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion
 

dimos/msgs/sensor_msgs/Image.py

@@ -21,8 +21,8 @@
 import numpy as np
 
 # Import LCM types
-from lcm_msgs.sensor_msgs.Image import Image as LCMImage
-from lcm_msgs.std_msgs.Header import Header
+from dimos_lcm.sensor_msgs.Image import Image as LCMImage
+from dimos_lcm.std_msgs.Header import Header
 
 from dimos.types.timestamped import Timestamped
 

dimos/msgs/sensor_msgs/PointCloud2.py

@@ -22,9 +22,11 @@
 import open3d as o3d
 
 # Import LCM types
-from lcm_msgs.sensor_msgs.PointCloud2 import PointCloud2 as LCMPointCloud2
-from lcm_msgs.sensor_msgs.PointField import PointField
-from lcm_msgs.std_msgs.Header import Header
+from dimos_lcm.sensor_msgs.PointCloud2 import (
+    PointCloud2 as LCMPointCloud2,
+)
+from dimos_lcm.sensor_msgs.PointField import PointField
+from dimos_lcm.std_msgs.Header import Header
 
 from dimos.types.timestamped import Timestamped
 

dimos/robot/foxglove_bridge.py

@@ -0,0 +1,49 @@
+# Copyright 2025 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.
+
+import asyncio
+import threading
+
+# this is missing, I'm just trying to import lcm_foxglove_bridge.py from dimos_lcm
+import dimos_lcm.lcm_foxglove_bridge as bridge
+
+from dimos.core import Module, rpc
+
+
+class FoxgloveBridge(Module):
+    _thread: threading.Thread
+    _loop: asyncio.AbstractEventLoop
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        self.start()
+
+    @rpc
+    def start(self):
+        def run_bridge():
+            self._loop = asyncio.new_event_loop()
+            asyncio.set_event_loop(self._loop)
+            try:
+                self._loop.run_until_complete(bridge.main())
+            except Exception as e:
+                print(f"Foxglove bridge error: {e}")
+
+        self._thread = threading.Thread(target=run_bridge, daemon=True)
+        self._thread.start()
+
+    @rpc
+    def stop(self):
+        if self._loop and self._loop.is_running():
+            self._loop.call_soon_threadsafe(self._loop.stop)
+            self._thread.join(timeout=2)

dimos/robot/unitree_webrtc/multiprocess/unitree_go2.py

@@ -30,6 +30,7 @@
 from dimos.msgs.geometry_msgs import Vector3
 from dimos.msgs.sensor_msgs import Image
 from dimos.protocol import pubsub
+from dimos.robot.foxglove_bridge import FoxgloveBridge
 from dimos.robot.global_planner import AstarPlanner
 from dimos.robot.local_planner.simple import SimplePlanner
 from dimos.robot.unitree_webrtc.connection import VideoMessage, WebRTCRobot
@@ -182,6 +183,8 @@ async def run(ip):
     ctrl.plancmd.transport = core.LCMTransport("/global_target", Vector3)
     global_planner.target.connect(ctrl.plancmd)
 
+    foxglove_bridge = FoxgloveBridge()
+
     # we review the structure
     print("\n")
     for module in [connection, mapper, local_planner, global_planner, ctrl]:
@@ -199,6 +202,9 @@ async def run(ip):
     print(colors.green("starting global planner"))
     global_planner.start()
 
+    print(colors.green("starting foxglove bridge"))
+    foxglove_bridge.start()
+
     # uncomment to move the bot
     # print(colors.green("starting ctrl"))
     # ctrl.start()

dimos/utils/run_foxglove_bridge.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+# Copyright 2025 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.
+
+"""
+use lcm_foxglove_bridge as a module from dimos_lcm
+"""
+
+import asyncio
+import threading
+import dimos_lcm.lcm_foxglove_bridge as bridge
+
+
+def run_bridge_example():
+    """Example of running the bridge in a separate thread"""
+
+    def bridge_thread():
+        """Thread function to run the bridge"""
+        loop = asyncio.new_event_loop()
+        asyncio.set_event_loop(loop)
+        try:
+            bridge_runner = bridge.LcmFoxgloveBridgeRunner(
+                host="0.0.0.0", port=8765, debug=True, num_threads=4
+            )
+
+            loop.run_until_complete(bridge_runner.run())
+        except Exception as e:
+            print(f"Bridge error: {e}")
+        finally:
+            loop.close()
+
+    thread = threading.Thread(target=bridge_thread, daemon=True)
+    thread.start()
+
+    print("Bridge started in background thread")
+    print("Open Foxglove Studio and connect to ws://localhost:8765")
+    print("Press Ctrl+C to exit")
+
+    try:
+        while True:
+            threading.Event().wait(1)
+    except KeyboardInterrupt:
+        print("Shutting down...")
+
+
+if __name__ == "__main__":
+    run_bridge_example()

dimos/utils/test_foxglove_bridge.py

@@ -0,0 +1,89 @@
+#!/usr/bin/env python3
+# Copyright 2025 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.
+
+"""
+Test for foxglove bridge import and basic functionality
+"""
+
+import pytest
+import threading
+import time
+import warnings
+from unittest.mock import patch, MagicMock
+
+warnings.filterwarnings("ignore", category=DeprecationWarning, module="websockets.server")
+warnings.filterwarnings("ignore", category=DeprecationWarning, module="websockets.legacy")
+
+
+def test_foxglove_bridge_import():
+    """Test that the foxglove bridge can be imported successfully."""
+    try:
+        import dimos_lcm.lcm_foxglove_bridge as bridge
+
+        assert hasattr(bridge, "LcmFoxgloveBridgeRunner")
+    except ImportError as e:
+        pytest.fail(f"Failed to import foxglove bridge: {e}")
+
+
+def test_foxglove_bridge_runner_init():
+    """Test that LcmFoxgloveBridgeRunner can be initialized with default parameters."""
+    try:
+        import dimos_lcm.lcm_foxglove_bridge as bridge
+
+        runner = bridge.LcmFoxgloveBridgeRunner(
+            host="localhost", port=8765, debug=False, num_threads=2
+        )
+
+        # Check that the runner was created successfully
+        assert runner is not None
+
+    except Exception as e:
+        pytest.fail(f"Failed to initialize LcmFoxgloveBridgeRunner: {e}")
+
+
+def test_foxglove_bridge_runner_params():
+    """Test that LcmFoxgloveBridgeRunner accepts various parameter configurations."""
+    try:
+        import dimos_lcm.lcm_foxglove_bridge as bridge
+
+        configs = [
+            {"host": "0.0.0.0", "port": 8765, "debug": True, "num_threads": 1},
+            {"host": "127.0.0.1", "port": 9090, "debug": False, "num_threads": 4},
+            {"host": "localhost", "port": 8080, "debug": True, "num_threads": 2},
+        ]
+
+        for config in configs:
+            runner = bridge.LcmFoxgloveBridgeRunner(**config)
+            assert runner is not None
+
+    except Exception as e:
+        pytest.fail(f"Failed to create runner with different configs: {e}")
+
+
+def test_bridge_runner_has_run_method():
+    """Test that the bridge runner has a run method that can be called."""
+    try:
+        import dimos_lcm.lcm_foxglove_bridge as bridge
+
+        runner = bridge.LcmFoxgloveBridgeRunner(
+            host="localhost", port=8765, debug=False, num_threads=1
+        )
+
+        # Check that the run method exists
+        assert hasattr(runner, "run")
+        assert callable(getattr(runner, "run"))
+
+    except Exception as e:
+        pytest.fail(f"Failed to verify run method: {e}")

pyproject.toml

@@ -91,7 +91,10 @@ dependencies = [
 
     # Multiprocess 
     "dask[complete]==2025.5.1",
-    "lcm_msgs @ git+https://github.com/dimensionalOS/python_lcm_msgs.git@main#egg=lcm_msgs"
+
+    # LCM / DimOS utilities
+    "dimos-lcm @ git+https://github.com/dimensionalOS/dimos-lcm.git@main",
+
 ]
 
 [project.optional-dependencies]