[TomCC7]

Rerun can subscribe explicitly to generated CDR channels and render PoseStamped/PointStamped without adding viewer methods to generated value classes. PoseStamped shows orientation axes and a text entity containing every Header/Pose field. Named frames and exact source nanoseconds are preserved; existing legacy discovery and transport defaults are unchanged.

Project: Message Encoding Refactor. Based on #4651; recording and domain/default cutover remain separate scopes.

Manual test

With this checkout installed normally into the active Python environment:

python examples/message-viewer/demo_cdr_rerun.py pose.rrd
rerun pose.rrd

Use a new output path. The exact example sends an actual generated PoseStamped through discovery-disabled loopback Zenoh/CDR, saves a real RRD and refuses to overwrite existing data. The viewer opens with axes and complete fields side by side, on source time 2023-11-14T22:13:20.123456789. The demo explicitly anchors its map frame at the origin; runtime bridges retain the producer's named frame and require the existing TF tree to locate it.

Runtime configuration

from dimos.core.cdr_transport import CdrTransport
from dimos.messages.geometry_msgs.msg import PoseStamped
from dimos.visualization.rerun.bridge import RerunBridgeModule

viewer = RerunBridgeModule(pubsubs=[], cdr_transports={
    "measured_pose": CdrTransport("measured_pose", PoseStamped, backend="zenoh"),
})
viewer.start()
# application lifetime
viewer.stop()

The producer uses its own matching transport instance. Bridge cleanup unsubscribes before stopping its owned transport, including failed startup. A source timeline is scoped to the incoming CDR message and cleared even when rendering fails. Zero source stamps remain zero. Walkthrough.

File changes by responsibility

Category	Files	Purpose
Viewer adapter	1	Stamped geometry, axes and complete field display outside generated types.
Existing bridge	1	Explicit owned CDR subscriptions and scoped source time; old pubsubs/defaults unchanged.
Tests	2	Frame/value/zero-time/lifecycle checks; run the exact example in isolated Python and inspect the actual RRD with the pinned CLI.
Manual example	1	Bounded real loopback exchange and no-overwrite RRD output.
Guide and CI	2	Embedded usage and installed-wheel acceptance in the existing workflow.

Validation and limits

At 70c08e85f4954e021111e55a11c0a5d1d35651e1: 13 focused/compatibility checks passed, including the exact real example and no-overwrite case. Strict typing passes on the adapter, bridge and example; applicable configured hooks pass. The main wheel builds. Actual sandboxed Chromium displayed the RRD's axes, full fields and nanosecond source timeline without page errors; screenshot provenance is recorded separately. Automated acceptance is not human review.

Only stamped geometry is covered in this slice. Generated TF/camera/cloud/map/domain adapters and default-blueprint cutover remain implementation work. No terminal CI result, hardware acceptance, Foxglove sign-in or production readiness is claimed.

The same 13 checks also passed against the built main wheel in isolated Python, with the installed package imported before loading checkout tests.

[github-actions]

go2 replay realtime (arm64)

Details

Benchmark suite	Current: 70c08e8	Previous: 17fdb6b	Ratio
peak memory	1607.637 MB	1589.477 MB	1.01
peak threads	364 threads	350 threads	1.04
network (transport)	2722.547 MB	2730.079 MB	1.00
disk write	2.012 MB	1.707 MB	1.18
instructions	116.83 G	115.497 G	1.01

This comment was automatically generated by workflow using github-action-benchmark.

[codecov]

❌ 2 Tests Failed:

Tests completed	Failed	Passed	Skipped
6377	2	6375	54

View the top 2 failed test(s) by shortest run time

dimos.codebase_checks.test_docs_branding::test_docs_use_current_branding

Stack Traces | 0.108s run time

def test_docs_use_current_branding() -> None:
        """Fail if any file under docs/ spells the brand "DimOS" instead of "dimOS"."""
        hits = find_old_branding()
        if hits:
            listing = "\n".join(
                f"  - {p.relative_to(DIMOS_PROJECT_ROOT)}:{lineno}: {line.strip()}"
                for p, lineno, line in hits
            )
>           raise AssertionError(f'Found "DimOS" in docs/:\n{listing}\n\nThe brand is spelled "dimOS".')
E           AssertionError: Found "DimOS" in docs/:
E             - docs/usage/visualization.md:177: DimOS environment:
E           
E           The brand is spelled "dimOS".

hits       = [(PosixPath('.../docs/usage/visualization.md'), 177, 'DimOS environment:')]
listing    = '  - docs/usage/visualization.md:177: DimOS environment:'

dimos/codebase_checks/test_docs_branding.py:43: AssertionError

dimos.core.test_build_native_modules::test_module_locks_pin_the_shared_code_as_it_is_now

Stack Traces | 5.18s run time

@pytest.mark.skipif(not _IN_GIT_CHECKOUT, reason="needs a git checkout to read refs")
    def test_module_locks_pin_the_shared_code_as_it_is_now() -> None:
        """Every module's pin on native/cpp or native/rust must hold this commit's tree.
    
        `nix flake lock` and `cargo build --locked` do not notice that the shared code
        moved -- they only check that the lock is complete -- so a change there can land
        while every module still builds against the revision before it. The revision is
        free to be older than HEAD; what must match is the content it pins.
        """
        stale = {
            _rel(lock): names
            for lock in _RELOCK.flake_locks()
            if (names := _RELOCK.stale_flake_inputs(lock))
        }
        stale |= {
            _rel(manifest): why
            for manifest in _RELOCK.cargo_manifests()
            if (why := _RELOCK.stale_cargo_pins(manifest))
        }
>       assert not stale, (
            "these modules pin shared code that is not the code in this commit, so they build "
            f"against the older version: {stale} -- push, run bin/relock-shared-flakes, commit"
        )
E       AssertionError: these modules pin shared code that is not the code in this commit, so they build against the older version: {'.../memory/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], '.../realsense/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], '.../v4l2/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], '.../livox/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], '.../pointlio/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], '.../lidar/virtual_mid360/Cargo.toml': ['dimos-module @ 6663bcb6e5'], '.../dim_slam/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], '.../ray_tracing/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], '.../mls_planner/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], '.../local_planner/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], '.../fancy/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], '.../depth2depth_cloud/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], '.../dds/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], '.../native-modules/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5']} -- push, run bin/relock-shared-flakes, commit
E       assert not {'.../memory/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], '.../realsense/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], '.../v4l2/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], '.../livox/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], ...}

names      = []
stale      = {'.../memory/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], '.../camera/realsense/...'dimos-module @ 6663bcb6e5'], '.../livox/rust/Cargo.toml': ['dimos-module @ 6663bcb6e5'], ...}
why        = ['dimos-module @ 6663bcb6e5']

dimos/core/test_build_native_modules.py:476: AssertionError

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