feat(viewer): replace TCP bridge with LCM publisher#2
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spomichter wants to merge 1 commit intofeat/interactive-click-bridgefrom
Open
feat(viewer): replace TCP bridge with LCM publisher#2spomichter wants to merge 1 commit intofeat/interactive-click-bridgefrom
spomichter wants to merge 1 commit intofeat/interactive-click-bridgefrom
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Replace the TCP-based ViewerEventSender with an LCM UDP multicast publisher for sending click events from the Rerun viewer to Python. Changes: - Add interaction/lcm.rs: LcmPublisher that encodes and sends geometry_msgs/PointStamped messages via UDP multicast (239.255.76.67:7667) - Update viewer.rs: use LcmPublisher instead of ViewerEventSender, publish click events on '/clicked_point#geometry_msgs.PointStamped' - Update interaction/mod.rs: export LCM types (ClickEvent, LcmPublisher, click_event_from_ms, click_event_now) The LCM encoding is verified byte-for-byte compatible with Python's dimos_lcm.geometry_msgs.PointStamped via unit tests (10 Rust tests) and cross-language integration tests (15 Python tests). Wire format: [8B fingerprint hash][Header: seq+stamp+frame_id][Point: x+y+z] Fingerprint: 0x9cd764738ea629af (matches Python LCM recursive hash)
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replaces the custom TCP socket bridge with native LCM transport for click events.
what
viewer now publishes
geometry_msgs/PointStampedto/clicked_pointvia LCM UDP multicast (239.255.76.67:7667), matching the rviz/clicked_pointconvention.why
TCP bridge was fragile (port conflicts, connection management, custom protocol). LCM is:
/clicked_pointtopic,frame_id= entity path)changes
interaction/lcm.rsinteraction/mod.rsviewer.rswire format
testing
cross-language wire compat verified — rust and python produce byte-identical payloads.
DIM-643