refactor: add realsense to root flake

.github/workflows/ci.yml

@@ -217,6 +217,13 @@ jobs:
           # Only main writes the cache, so a PR run cannot evict main's entry
           # from the repo's 10GB budget. PR runs still restore from it.
           save-if: ${{ github.ref == 'refs/heads/main' }}
+      - name: Install system deps
+        # realsense-sys links the system librealsense2. portaudio is for pyaudio.
+        run: |
+          curl -sSf --retry 3 https://librealsense.realsenseai.com/Debian/librealsenseai.asc | gpg --dearmor | sudo tee /etc/apt/keyrings/librealsenseai.gpg > /dev/null
+          echo "deb [signed-by=/etc/apt/keyrings/librealsenseai.gpg] https://librealsense.realsenseai.com/Debian/apt-repo $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/librealsense.list
+          sudo apt-get update
+          sudo apt-get install -y librealsense2-dev portaudio19-dev
       - name: cargo fmt
         run: cargo fmt --all -- --check
       - name: cargo clippy
@@ -227,10 +234,6 @@ jobs:
         uses: astral-sh/setup-uv@v10.0.1
         with:
           enable-cache: true
-      - name: Install dependency for pyaudio
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y portaudio19-dev
       - name: Build and test PyO3 bindings
         # PyO3 extension modules (cdylib + `extension-module`) are the one case
         # that still needs a plain build: pytest imports the compiled .so.

.pre-commit-config.yaml

@@ -157,12 +157,7 @@ repos:
             git ls-files "*Cargo.toml" | while read -r m; do
               cargo locate-project --manifest-path "$m" --workspace --message-format plain
             done | sort -u | while read -r root; do
-              # A crate with its own flake carries system deps the root shell lacks.
-              if [ -f "$(dirname "$root")/flake.nix" ]; then
-                nix develop "path:$(dirname "$root")" -c cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings
-              else
-                cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings
-              fi
+              cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings
             done
           '
         language: system

Cargo.toml

@@ -7,10 +7,26 @@ members = [
     "dimos/mapping/ray_tracing/rust/py",
     "dimos/navigation/nav_3d/mls_planner/rust",
     "dimos/navigation/nav_3d/mls_planner/rust/py",
+    "dimos/hardware/sensors/camera/realsense/rust",
     "dimos/hardware/sensors/lidar/virtual_mid360",
     "examples/native-modules/rust",
 ]
 
+[workspace.dependencies]
+ahash = "0.8"
+dimos-lcm = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
+dimos-module = { path = "native/rust/dimos-module" }
+lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
+nalgebra = "0.35.0"
+numpy = "0.25"
+pyo3 = { version = "0.25", features = ["extension-module", "abi3-py310"] }
+rayon = "1"
+serde = { version = "1", features = ["derive"] }
+tokio = "1"
+tracing = "0.1"
+tracing-subscriber = "0.3"
+validator = { version = "0.21", features = ["derive"] }
+
 [profile.release]
 lto = "thin"
 codegen-units = 1

bin/build-native-modules

@@ -2,9 +2,8 @@
 """Build every nix-backed native module, or decide whether CI needs to.
 
 Walks the whole `dimos` package for any `NativeModuleConfig` subclass whose
-`build_command` is a `nix build` (a `nix develop -c cargo build` leaves no
-store path to publish, so it stays outside the gate). Discovery is pure AST (stdlib only, no dimos import),
-so this script runs on a bare `python3` with nothing installed.
+`build_command` is a `nix build`. Discovery is pure AST (stdlib only, no
+dimos import), so this script runs on a bare `python3` with nothing installed.
 
 Modes:
 

dimos/hardware/sensors/camera/realsense/README.md

@@ -1,9 +1,9 @@
 # RealSense
 
-Capture is the rust module in `rust/`, built through its own flake (librealsense2 is not in the root shell):
+Capture is the rust module in `rust/`, a workspace member. It links the system librealsense2 (`librealsense2-dev` from the [RealSense apt repo](https://github.com/realsenseai/librealsense/blob/master/doc/distribution_linux.md), or `pkgs.librealsense` in the nix shell):
 
 ```bash
-cd dimos/hardware/sensors/camera/realsense/rust && nix develop path:. -c cargo build --release
+cargo build --release -p dimos-realsense
 ```
 
 `camera.py` launches it; `dimos run real-sense-camera-vis` shows color, depth and the cloud in Rerun.

dimos/hardware/sensors/camera/realsense/camera.py

@@ -21,6 +21,7 @@
 
 from pydantic import Field
 
+from dimos.constants import DIMOS_PROJECT_ROOT
 from dimos.core.native_module import NativeModule, NativeModuleConfig
 from dimos.core.stream import Out
 from dimos.hardware.sensors.camera.spec import DepthCameraConfig
@@ -35,9 +36,9 @@
 
 class RealSenseCameraConfig(NativeModuleConfig, DepthCameraConfig):
     cwd: str | None = "rust"
-    executable: str = "target/release/realsense_native"
-    # Own flake: librealsense2 isn't in the root shell.
-    build_command: str | None = "nix develop path:. -c cargo build --release"
+    # The crate is a workspace member, so cargo builds into the repo-root target dir.
+    executable: str = str(DIMOS_PROJECT_ROOT / "target" / "release" / "realsense_native")
+    build_command: str | None = "cargo build --release"
     stdin_config: bool = True
     # The frame stem and its namespace cross to rust like any other field.
     base_fields: frozenset[str] = frozenset({"frame_id", "frame_id_prefix"})