implement rerun bridge DIM-1125

[bogwi]

Contribution path

• Small, safe change that does not need a tracking issue
• Linked issue or discussion: DIM-XXX / #XXX / URL

Problem

Solution

How to Test

AI assistance

Checklist

• This PR is scoped to one issue or clearly stated problem.
• I ran the relevant checks (uv run pytest, pre-commit) for the files I changed.
• I have reviewed and understood every line in this PR.
• I disclosed AI assistance above.
• I have read and approved the CLA.

[greptile-apps]

Greptile Summary

This PR adds a native Rerun bridge for high-rate sensor messages. The main changes are:

• Route Image and PointCloud2 traffic through a Rust bridge.
• Keep selected heavy topics on the Python callback path.
• Add LCM and Zenoh filtering, decoding, and native CI coverage.

Confidence Score: 4/5

This should be fixed before merging.

• Custom topic_to_entity mappings can prevent configured Python heavy-topic callbacks from receiving messages.
• Default exact and Glob routing paths are covered by the updated bridge tests.

dimos/visualization/rerun/bridge.py

Important Files Changed

Filename	Overview
dimos/visualization/rerun/bridge.py	Splits heavy-message handling between the native process and Python callbacks, but derives source subscriptions from entity paths.
dimos/protocol/pubsub/impl/zenohpubsub.py	Adds heavy-topic namespaces and filtered all-topic subscriptions for Zenoh.
native/rust/dimos-rerun-bridge/src/main.rs	Adds native latest-message processing and Rerun logging for Image and PointCloud2 traffic.

Comments Outside Diff (1)

1. dimos/visualization/rerun/bridge.py, line 1360-1368 (link)

   Custom mappings skip callbacks. The heavy allowlist is built by removing entity_prefix from override entity paths, but _get_entity_path() can instead use topic_to_entity, which may rename or restructure the source topic. For example, a mapper can turn /robot/front/image into world/cameras/front; a callback override for Glob("world/cameras/*") then subscribes Python to /cameras/*, so the transport filter excludes /robot/front/image as native-owned. The configured Python callback is never invoked for that Image or PointCloud2 message. Keep custom-mapped heavy topics on the Python path, or provide an equivalent source-topic mapping to both bridge filters.

_{Reviews (3): Last reviewed commit: "CI: Upload coverage from the rust job wh..." | Re-trigger Greptile}

[codecov]

Codecov Report

❌ Patch coverage is 93.46093% with 41 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/protocol/pubsub/impl/zenohpubsub.py	85.07%	10 Missing ⚠️
dimos/visualization/rerun/bridge.py	86.79%	3 Missing and 4 partials ⚠️
dimos/visualization/rerun/native_bridge.py	83.33%	6 Missing ⚠️
dimos/robot/cli/topic.py	28.57%	5 Missing ⚠️
dimos/protocol/pubsub/spec.py	55.55%	4 Missing ⚠️
dimos/visualization/rerun/test_native_bridge.py	98.12%	2 Missing and 1 partial ⚠️
dimos/protocol/pubsub/impl/webrtc/webrtcpubsub.py	71.42%	1 Missing and 1 partial ⚠️
dimos/visualization/rerun/test_bridge.py	97.89%	1 Missing and 1 partial ⚠️
dimos/core/transport.py	85.71%	0 Missing and 1 partial ⚠️
dimos/protocol/pubsub/impl/lcmpubsub.py	93.33%	0 Missing and 1 partial ⚠️

@@            Coverage Diff             @@
##             main    #3066      +/-   ##
==========================================
+ Coverage   72.35%   73.16%   +0.80%     
==========================================
  Files        1024     1035      +11     
  Lines       92038    93701    +1663     
  Branches     8420     8761     +341     
==========================================
+ Hits        66598    68557    +1959     
+ Misses      23168    22810     -358     
- Partials     2272     2334      +62     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	66.20% <72.24%> (+0.79%)	⬆️
OS-ubuntu-latest	68.50% <72.24%> (+0.75%)	⬆️
Py-3.10	68.49% <72.24%> (+0.75%)	⬆️
Py-3.11	68.49% <72.24%> (+0.76%)	⬆️
Py-3.12	68.48% <72.24%> (+0.74%)	⬆️
Py-3.13	68.49% <72.24%> (+0.74%)	⬆️
Py-3.14	68.50% <72.24%> (+0.75%)	⬆️
Py-3.14t	68.49% <72.24%> (+0.74%)	⬆️
SelfHosted-Large	30.03% <26.47%> (-0.09%)	⬇️
SelfHosted-Linux	37.16% <29.18%> (-0.21%)	⬇️
SelfHosted-macOS	36.05% <29.66%> (-0.19%)	⬇️
native-rust	37.59% <80.87%> (?)

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/conftest.py	82.08% <100.00%> (+0.88%)	⬆️
dimos/core/test_transport.py	100.00% <100.00%> (ø)
dimos/core/transport_factory.py	100.00% <100.00%> (ø)
dimos/e2e_tests/dimos_cli_call.py	57.77% <100.00%> (ø)
dimos/navigation/cmu_nav/main.py	43.42% <ø> (-0.50%)	⬇️
dimos/protocol/pubsub/encoders.py	82.60% <100.00%> (+2.12%)	⬆️
dimos/protocol/pubsub/impl/test_lcmpubsub.py	100.00% <100.00%> (ø)
dimos/protocol/pubsub/impl/test_zenohpubsub.py	98.93% <100.00%> (+0.35%)	⬆️
.../unitree/go2/blueprints/basic/unitree_go2_basic.py	66.66% <ø> (+1.66%)	⬆️
...e/go2/blueprints/navigation/unitree_go2_mls_htc.py	85.00% <ø> (+3.18%)	⬆️
... and 13 more

... and 51 files with indirect coverage changes

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