Pshm to lcm

dimos/agents2/test_mock_agent.py

@@ -27,7 +27,8 @@
 from dimos.msgs.foxglove_msgs import ImageAnnotations
 from dimos.msgs.geometry_msgs import PoseStamped, Quaternion, Transform, Vector3
 from dimos.msgs.sensor_msgs import Image
-from dimos.perception.detection2d import Detect2DModule, Detection2DArrayFix
+from dimos.msgs.vision_msgs import Detection2DArray
+from dimos.perception.detection2d import Detect2DModule
 from dimos.protocol.skill.test_coordinator import SkillContainerTest
 from dimos.robot.unitree_webrtc.modular.connection_module import ConnectionModule
 from dimos.robot.unitree_webrtc.type.lidar import LidarMessage
@@ -166,7 +167,7 @@ async def test_tool_call_implicit_detections():
     robot_connection.start()
 
     detect2d = dimos.deploy(Detect2DModule)
-    detect2d.detections.transport = LCMTransport("/detections", Detection2DArrayFix)
+    detect2d.detections.transport = LCMTransport("/detections", Detection2DArray)
     detect2d.annotations.transport = LCMTransport("/annotations", ImageAnnotations)
     detect2d.image.connect(robot_connection.video)
     detect2d.start()

dimos/manipulation/visual_servoing/detection3d.py

@@ -28,14 +28,13 @@
 
 from dimos.msgs.geometry_msgs import Pose, Vector3, Quaternion
 from dimos.msgs.std_msgs import Header
+from dimos.msgs.vision_msgs import Detection2DArray, Detection3DArray
 from dimos_lcm.vision_msgs import (
     Detection3D,
-    Detection3DArray,
     BoundingBox3D,
     ObjectHypothesisWithPose,
     ObjectHypothesis,
     Detection2D,
-    Detection2DArray,
     BoundingBox2D,
     Pose2D,
     Point2D,

dimos/manipulation/visual_servoing/manipulation_module.py

@@ -29,8 +29,8 @@
 from dimos.core import Module, In, Out, rpc
 from dimos.msgs.sensor_msgs import Image
 from dimos.msgs.geometry_msgs import Vector3, Pose, Quaternion
+from dimos.msgs.vision_msgs import Detection2DArray, Detection3DArray
 from dimos_lcm.sensor_msgs import CameraInfo
-from dimos_lcm.vision_msgs import Detection3DArray, Detection2DArray
 
 from dimos.hardware.piper_arm import PiperArm
 from dimos.manipulation.visual_servoing.detection3d import Detection3DProcessor

dimos/manipulation/visual_servoing/pbvs.py

@@ -22,7 +22,8 @@
 from collections import deque
 from scipy.spatial.transform import Rotation as R
 from dimos.msgs.geometry_msgs import Pose, Vector3, Quaternion
-from dimos_lcm.vision_msgs import Detection3D, Detection3DArray
+from dimos.msgs.vision_msgs import Detection3DArray
+from dimos_lcm.vision_msgs import Detection3D
 from dimos.utils.logging_config import setup_logger
 from dimos.manipulation.visual_servoing.utils import (
     update_target_grasp_pose,

dimos/msgs/vision_msgs/BoundingBox2DArray.py

@@ -0,0 +1,19 @@
+# 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.
+
+from dimos_lcm.vision_msgs.BoundingBox2DArray import BoundingBox2DArray as LCMBoundingBox2DArray
+
+
+class BoundingBox2DArray(LCMBoundingBox2DArray):
+    msg_name = "vision_msgs.BoundingBox2DArray"

dimos/msgs/vision_msgs/BoundingBox3DArray.py

@@ -0,0 +1,19 @@
+# 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.
+
+from dimos_lcm.vision_msgs.BoundingBox3DArray import BoundingBox3DArray as LCMBoundingBox3DArray
+
+
+class BoundingBox3DArray(LCMBoundingBox3DArray):
+    msg_name = "vision_msgs.BoundingBox3DArray"

dimos/msgs/vision_msgs/Detection2DArray.py

@@ -0,0 +1,19 @@
+# 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.
+
+from dimos_lcm.vision_msgs.Detection2DArray import Detection2DArray as LCMDetection2DArray
+
+
+class Detection2DArray(LCMDetection2DArray):
+    msg_name = "vision_msgs.Detection2DArray"

dimos/msgs/vision_msgs/Detection3DArray.py

@@ -0,0 +1,19 @@
+# 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.
+
+from dimos_lcm.vision_msgs.Detection3DArray import Detection3DArray as LCMDetection3DArray
+
+
+class Detection3DArray(LCMDetection3DArray):
+    msg_name = "vision_msgs.Detection3DArray"

dimos/msgs/vision_msgs/__init__.py

@@ -0,0 +1,6 @@
+from .BoundingBox2DArray import BoundingBox2DArray
+from .BoundingBox3DArray import BoundingBox3DArray
+from .Detection2DArray import Detection2DArray
+from .Detection3DArray import Detection3DArray
+
+__all__ = ["BoundingBox2DArray", "BoundingBox3DArray", "Detection2DArray", "Detection3DArray"]

dimos/perception/detection2d/__init__.py

@@ -1,3 +1,3 @@
-from dimos.perception.detection2d.module import Detect2DModule, Detection2DArrayFix
+from dimos.perception.detection2d.module import Detect2DModule
 from dimos.perception.detection2d.utils import *
 from dimos.perception.detection2d.yolo_2d_det import *

dimos/perception/detection2d/module.py

@@ -21,10 +21,10 @@
 )
 from dimos_lcm.foxglove_msgs.Color import Color
 from dimos_lcm.foxglove_msgs.Point2 import Point2
+from dimos.msgs.vision_msgs import Detection2DArray
 from dimos_lcm.vision_msgs import (
     BoundingBox2D,
     Detection2D,
-    Detection2DArray,
     ObjectHypothesis,
     ObjectHypothesisWithPose,
     Point2D,
@@ -43,10 +43,6 @@
 from dimos.types.timestamped import to_ros_stamp
 
 
-class Detection2DArrayFix(Detection2DArray):
-    msg_name = "vision_msgs.Detection2DArray"
-
-
 Bbox = Tuple[float, float, float, float]
 CenteredBbox = Tuple[float, float, float, float]
 # yolo and detic have bad output formats
@@ -98,9 +94,9 @@ def build_detection2d(image, detection) -> Detection2D:
     )
 
 
-def build_detection2d_array(imageDetections: ImageDetections) -> Detection2DArrayFix:
+def build_detection2d_array(imageDetections: ImageDetections) -> Detection2DArray:
     [image, detections] = imageDetections
-    return Detection2DArrayFix(
+    return Detection2DArray(
         detections_length=len(detections),
         header=Header(image.ts, "camera_link"),
         detections=list(
@@ -191,7 +187,7 @@ def flatten(xss):
 
 class Detect2DModule(Module):
     image: In[Image] = None
-    detections: Out[Detection2DArrayFix] = None
+    detections: Out[Detection2DArray] = None
     annotations: Out[ImageAnnotations] = None
 
     # _initDetector = Detic2DDetector
@@ -212,7 +208,7 @@ def start(self):
         self.annotation_stream().subscribe(self.annotations.publish)
 
     @functools.cache
-    def detection2d_stream(self) -> Observable[Detection2DArrayFix]:
+    def detection2d_stream(self) -> Observable[Detection2DArray]:
         return self.image.observable().pipe(ops.map(self.detect), ops.map(build_detection2d_array))
 
     @functools.cache

dimos/perception/object_tracker.py

@@ -21,16 +21,15 @@
 from dimos.core import In, Out, Module, rpc
 from dimos.msgs.std_msgs import Header
 from dimos.msgs.sensor_msgs import Image, ImageFormat
+from dimos.msgs.vision_msgs import Detection2DArray, Detection3DArray
 from dimos.msgs.geometry_msgs import Vector3, Quaternion, Transform, Pose, PoseStamped
 from dimos.protocol.tf import TF
 from dimos.utils.logging_config import setup_logger
 
 # Import LCM messages
 from dimos_lcm.vision_msgs import (
     Detection2D,
-    Detection2DArray,
     Detection3D,
-    Detection3DArray,
     ObjectHypothesisWithPose,
 )
 from dimos_lcm.sensor_msgs import CameraInfo

dimos/robot/unitree_webrtc/modular/ivan_unitree.py

@@ -25,11 +25,12 @@
 from dimos.msgs.geometry_msgs import PoseStamped, Quaternion, Transform, Twist, Vector3
 from dimos.msgs.nav_msgs import OccupancyGrid, Path
 from dimos.msgs.sensor_msgs import Image
+from dimos.msgs.vision_msgs import Detection2DArray
 from dimos.navigation.bt_navigator.navigator import BehaviorTreeNavigator, NavigatorState
 from dimos.navigation.frontier_exploration import WavefrontFrontierExplorer
 from dimos.navigation.global_planner import AstarPlanner
 from dimos.navigation.local_planner.holonomic_local_planner import HolonomicLocalPlanner
-from dimos.perception.detection2d import Detect2DModule, Detection2DArrayFix
+from dimos.perception.detection2d import Detect2DModule
 from dimos.protocol.pubsub import lcm
 from dimos.robot.foxglove_bridge import FoxgloveBridge
 from dimos.robot.unitree_webrtc.modular.connection_module import ConnectionModule
@@ -133,7 +134,7 @@ def __init__(
 
         detection = dimos.deploy(Detect2DModule)
         detection.image.connect(connection.video)
-        detection.detections.transport = LCMTransport("/detections", Detection2DArrayFix)
+        detection.detections.transport = LCMTransport("/detections", Detection2DArray)
         detection.annotations.transport = LCMTransport("/annotations", ImageAnnotations)
         detection.start()
 

dimos/robot/unitree_webrtc/unitree_go2.py

@@ -28,9 +28,9 @@
 from dimos.msgs.geometry_msgs import PoseStamped, Transform, Twist, Vector3, Quaternion
 from dimos.msgs.nav_msgs import OccupancyGrid, Path
 from dimos.msgs.sensor_msgs import Image
+from dimos.msgs.vision_msgs import Detection2DArray, Detection3DArray
 from dimos_lcm.std_msgs import String
 from dimos_lcm.sensor_msgs import CameraInfo
-from dimos_lcm.vision_msgs import Detection2DArray, Detection3DArray
 from dimos.perception.spatial_perception import SpatialMemory
 from dimos.perception.common.utils import (
     extract_pose_from_detection3d,
@@ -401,9 +401,7 @@ def _deploy_connection(self):
 
         self.connection.lidar.transport = core.LCMTransport("/lidar", LidarMessage)
         self.connection.odom.transport = core.LCMTransport("/odom", PoseStamped)
-        self.connection.video.transport = core.pSHMTransport(
-            "/go2/color_image", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE
-        )
+        self.connection.video.transport = core.LCMTransport("/go2/color_image", Image)
         self.connection.movecmd.transport = core.LCMTransport("/cmd_vel", Twist)
         self.connection.camera_info.transport = core.LCMTransport("/go2/camera_info", CameraInfo)
         self.connection.camera_pose.transport = core.LCMTransport("/go2/camera_pose", PoseStamped)
@@ -478,7 +476,7 @@ def _deploy_visualization(self):
         self.websocket_vis.path.connect(self.global_planner.path)
         self.websocket_vis.global_costmap.connect(self.mapper.global_costmap)
 
-        self.foxglove_bridge = FoxgloveBridge(shm_channels=["/go2/color_image#sensor_msgs.Image"])
+        self.foxglove_bridge = FoxgloveBridge()
 
     def _deploy_perception(self):
         """Deploy and configure perception modules."""
@@ -491,10 +489,7 @@ def _deploy_perception(self):
             output_dir=self.spatial_memory_dir,
         )
 
-        color_image_default_capacity = 1920 * 1080 * 4
-        self.spatial_memory_module.video.transport = core.pSHMTransport(
-            "/go2/color_image", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE
-        )
+        self.spatial_memory_module.video.transport = core.LCMTransport("/go2/color_image", Image)
         self.spatial_memory_module.odom.transport = core.LCMTransport(
             "/go2/camera_pose", PoseStamped
         )
@@ -526,12 +521,8 @@ def _deploy_camera(self):
         self.depth_module = self.dimos.deploy(DepthModule, gt_depth_scale=gt_depth_scale)
 
         # Set up transports
-        self.depth_module.color_image.transport = core.pSHMTransport(
-            "/go2/color_image", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE
-        )
-        self.depth_module.depth_image.transport = core.pSHMTransport(
-            "/go2/depth_image", default_capacity=DEFAULT_CAPACITY_DEPTH_IMAGE
-        )
+        self.depth_module.color_image.transport = core.LCMTransport("/go2/color_image", Image)
+        self.depth_module.depth_image.transport = core.LCMTransport("/go2/depth_image", Image)
         self.depth_module.camera_info.transport = core.LCMTransport("/go2/camera_info", CameraInfo)
 
         logger.info("Camera module deployed and connected")