Nav System (Ros and Non-ros)

dimos/agents_deprecated/agent.py

@@ -897,5 +897,3 @@ def stream_query(self, query_text: str) -> Observable:  # type: ignore[type-arg]
         return create(
             lambda observer, _: self._observable_query(observer, incoming_query=query_text)  # type: ignore[arg-type]
         )
-
-

dimos/agents_deprecated/memory/spatial_vector_db.py

@@ -227,8 +227,8 @@ def _process_query_results(self, results) -> list[dict]:  # type: ignore[no-unty
                 )
 
             # Get the image from visual memory
-            #image = self.visual_memory.get(lookup_id)
-            #result["image"] = image
+            # image = self.visual_memory.get(lookup_id)
+            # result["image"] = image
 
             processed_results.append(result)
 

dimos/agents_deprecated/modules/base_agent.py

@@ -33,6 +33,7 @@
 
 logger = setup_logger()
 
+
 class BaseAgentConfig(ModuleConfig):
     model: str = "openai::gpt-4o-mini"
     system_prompt: str | None = None
@@ -46,12 +47,14 @@ class BaseAgentConfig(ModuleConfig):
     rag_threshold: float = 0.45
     process_all_inputs: bool = False
 
+
 class BaseAgentModule(BaseAgent, Module):  # type: ignore[misc]
     """Agent module that inherits from BaseAgent and adds DimOS module interface.
 
     This provides a thin wrapper around BaseAgent functionality, exposing it
     through the DimOS module system with RPC methods and stream I/O.
     """
+
     config: BaseAgentConfig
 
     # Module I/O - AgentMessage based communication

dimos/conftest.py

@@ -161,6 +161,19 @@ def monitor_threads(request):
             # https://github.com/huggingface/transformers/issues/29513
             "Thread-auto_conversion",
         ]
+        expected_persistent_thread_substrings = [
+            "run_forever",
+            "_lcm_loop",
+            "native-watchdog",
+            "_input_loop",
+        ]
+        new_threads = [
+            t
+            for t in new_threads
+            if not any(sub in t.name for sub in expected_persistent_thread_substrings)
+        ]
+        # Daemon threads are cleaned up by the interpreter on exit; don't flag them.
+        new_threads = [t for t in new_threads if not t.daemon]
         new_threads = [
             t
             for t in new_threads

dimos/core/docker_module.py

@@ -30,7 +30,7 @@
 from dimos.core.rpc_client import ModuleProxyProtocol, RpcCall
 from dimos.protocol.rpc.pubsubrpc import LCMRPC
 from dimos.utils.logging_config import setup_logger
-from dimos.visualization.rerun.bridge import RERUN_GRPC_PORT, RERUN_WEB_PORT
+from dimos.visualization.constants import RERUN_GRPC_PORT, RERUN_WEB_PORT
 
 if TYPE_CHECKING:
     from collections.abc import Callable

dimos/core/global_config.py

@@ -13,13 +13,16 @@
 # limitations under the License.
 
 import re
-from typing import Literal, TypeAlias
 
 from pydantic_settings import BaseSettings, SettingsConfigDict
 
 from dimos.models.vl.types import VlModelName
-
-ViewerBackend: TypeAlias = Literal["rerun", "rerun-web", "rerun-connect", "foxglove", "none"]
+from dimos.visualization.constants import (
+    RERUN_ENABLE_WEB,
+    RERUN_OPEN_DEFAULT,
+    RerunOpenOption,
+    ViewerBackend,
+)
 
 
 def _get_all_numbers(s: str) -> list[float]:
@@ -37,6 +40,8 @@ class GlobalConfig(BaseSettings):
     replay_dir: str = "go2_sf_office"
     new_memory: bool = False
     viewer: ViewerBackend = "rerun"
+    rerun_open: RerunOpenOption = RERUN_OPEN_DEFAULT
+    rerun_web: bool = RERUN_ENABLE_WEB
     n_workers: int = 2
     memory_limit: str = "auto"
     mujoco_camera_position: str | None = None