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Removing websocket vis causing crazy lag #656

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Merged
spomichter merged 1 commit into from
Oct 4, 2025
Merged

Removing websocket vis causing crazy lag #656

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19 changes: 10 additions & 9 deletions dimos/robot/unitree_webrtc/unitree_go2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -390,7 +390,8 @@ def start(self):
self._deploy_connection()
self._deploy_mapping()
self._deploy_navigation()
self._deploy_visualization()
# self._deploy_visualization()
self._deploy_foxglove_bridge()
self._deploy_perception()
self._deploy_camera()

Expand Down Expand Up @@ -505,19 +506,20 @@ def _deploy_visualization(self):
self.websocket_vis.path.connect(self.global_planner.path)
self.websocket_vis.global_costmap.connect(self.mapper.global_costmap)

# TODO: This should be moved.
def _set_goal(goal: LatLon):
self.set_gps_travel_goal_points([goal])

unsub = self.websocket_vis.gps_goal.transport.pure_observable().subscribe(_set_goal)

def _deploy_foxglove_bridge(self):
self.foxglove_bridge = FoxgloveBridge(
shm_channels=[
"/go2/color_image#sensor_msgs.Image",
"/go2/depth_image#sensor_msgs.Image",
]
)

# TODO: This should be moved.
def _set_goal(goal: LatLon):
self.set_gps_travel_goal_points([goal])

unsub = self.websocket_vis.gps_goal.transport.pure_observable().subscribe(_set_goal)

def _deploy_perception(self):
"""Deploy and configure perception modules."""
# Deploy spatial memory
Expand Down Expand Up @@ -574,7 +576,6 @@ def _deploy_camera(self):
self.depth_module.camera_info.transport = core.LCMTransport("/go2/camera_info", CameraInfo)

logger.info("Camera module deployed and connected")

# Connect object tracker inputs after camera module is deployed
if self.object_tracker:
self.object_tracker.color_image.connect(self.connection.video)
Expand All @@ -590,7 +591,7 @@ def _start_modules(self):
self.local_planner.start()
self.navigator.start()
self.frontier_explorer.start()
self.websocket_vis.start()
# self.websocket_vis.start()
self.foxglove_bridge.start()
self.spatial_memory_module.start()
self.depth_module.start()
Expand Down