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leshyleshy
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ros-msgs dir resolving
1 parent 72e672b commit 39eb7ec

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2 files changed

+96
-103
lines changed

2 files changed

+96
-103
lines changed

‎pyproject.toml‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
44

55
[project]
66
name = "dimos_lcm"
7-
version = "0.1.1"
7+
version = "0.1.2"
88
description = "LCM-Foxglove bridge and message utilities for Dimensional Robotics"
99
authors = [
1010
{name = "Dimensional Team", email = "build@dimensionalOS.com"},
@@ -61,6 +61,6 @@ packages = [
6161
[tool.setuptools.package-data]
6262
"dimos_lcm" = [
6363
"*.py",
64-
"generated/python_lcm_msgs/**/*"
64+
"generated/python_lcm_msgs/**/*",
65+
"sources/ros_msgs/**/*.msg"
6566
]
66-

‎tools/foxglove_bridge/config.py‎

Lines changed: 93 additions & 100 deletions
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,17 @@
1+
# Copyright 2026 Dimensional Inc.
2+
#
3+
# Licensed under the Apache License, Version 2.0 (the "License");
4+
# you may not use this file except in compliance with the License.
5+
# You may obtain a copy of the License at
6+
#
7+
# http://www.apache.org/licenses/LICENSE-2.0
8+
#
9+
# Unless required by applicable law or agreed to in writing, software
10+
# distributed under the License is distributed on an "AS IS" BASIS,
11+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
# See the License for the specific language governing permissions and
13+
# limitations under the License.
14+
115
"""
216
Configuration constants and settings for the LCM-Foxglove bridge.
317
"""
@@ -6,17 +20,29 @@
620
import os
721

822
# Configure logging
9-
logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(name)s - %(levelname)s - %(message)s')
23+
logging.basicConfig(
24+
level=logging.INFO, format="%(asctime)s - %(name)s - %(levelname)s - %(message)s"
25+
)
1026
logger = logging.getLogger("lcm_foxglove_bridge")
1127

1228
# Get the directory where this config.py file is located
1329
_CONFIG_DIR = os.path.dirname(os.path.abspath(__file__))
14-
# Project root is two levels up from tools/foxglove_bridge/
15-
_PROJECT_ROOT = os.path.abspath(os.path.join(_CONFIG_DIR, "..", ".."))
30+
# One level up from foxglove_bridge/ to get to package root (dimos_lcm/ when installed)
31+
_PACKAGE_ROOT = os.path.dirname(_CONFIG_DIR)
32+
33+
# Directory paths - try installed location first, fall back to editable
34+
ROS_MSGS_DIR = os.path.join(_PACKAGE_ROOT, "sources", "ros_msgs")
35+
if not os.path.isdir(ROS_MSGS_DIR):
36+
# Editable install - project root is two levels up from tools/foxglove_bridge/
37+
_PROJECT_ROOT = os.path.dirname(_PACKAGE_ROOT)
38+
ROS_MSGS_DIR = os.path.join(_PROJECT_ROOT, "sources", "ros_msgs")
1639

17-
# Directory paths - using paths relative to project root
18-
ROS_MSGS_DIR = os.path.join(_PROJECT_ROOT, "sources", "ros_msgs")
19-
LCM_PYTHON_MODULES_PATH = os.path.join(_PROJECT_ROOT, "generated", "python_lcm_msgs", "lcm_msgs")
40+
LCM_PYTHON_MODULES_PATH = os.path.join(_PACKAGE_ROOT, "generated", "python_lcm_msgs", "lcm_msgs")
41+
if not os.path.isdir(LCM_PYTHON_MODULES_PATH):
42+
_PROJECT_ROOT = os.path.dirname(_PACKAGE_ROOT)
43+
LCM_PYTHON_MODULES_PATH = os.path.join(
44+
_PROJECT_ROOT, "generated", "python_lcm_msgs", "lcm_msgs"
45+
)
2046

2147
# Thread pool settings
2248
DEFAULT_THREAD_POOL_SIZE = 8
@@ -35,25 +61,19 @@
3561
"properties": {
3662
"stamp": {
3763
"type": "object",
38-
"properties": {
39-
"sec": {"type": "integer"},
40-
"nsec": {"type": "integer"}
41-
}
64+
"properties": {"sec": {"type": "integer"}, "nsec": {"type": "integer"}},
4265
},
43-
"frame_id": {"type": "string"}
44-
}
66+
"frame_id": {"type": "string"},
67+
},
4568
},
4669
"height": {"type": "integer"},
4770
"width": {"type": "integer"},
4871
"encoding": {"type": "string"},
4972
"is_bigendian": {"type": "boolean"},
5073
"step": {"type": "integer"},
51-
"data": {
52-
"type": "string",
53-
"contentEncoding": "base64"
54-
}
55-
}
56-
}
74+
"data": {"type": "string", "contentEncoding": "base64"},
75+
},
76+
},
5777
},
5878
"sensor_msgs.CompressedImage": {
5979
"foxglove_name": "sensor_msgs/msg/CompressedImage",
@@ -65,21 +85,15 @@
6585
"properties": {
6686
"stamp": {
6787
"type": "object",
68-
"properties": {
69-
"sec": {"type": "integer"},
70-
"nsec": {"type": "integer"}
71-
}
88+
"properties": {"sec": {"type": "integer"}, "nsec": {"type": "integer"}},
7289
},
73-
"frame_id": {"type": "string"}
74-
}
90+
"frame_id": {"type": "string"},
91+
},
7592
},
7693
"format": {"type": "string"},
77-
"data": {
78-
"type": "string",
79-
"contentEncoding": "base64"
80-
}
81-
}
82-
}
94+
"data": {"type": "string", "contentEncoding": "base64"},
95+
},
96+
},
8397
},
8498
"sensor_msgs.JointState": {
8599
"foxglove_name": "sensor_msgs/msg/JointState",
@@ -91,33 +105,18 @@
91105
"properties": {
92106
"stamp": {
93107
"type": "object",
94-
"properties": {
95-
"sec": {"type": "integer"},
96-
"nsec": {"type": "integer"}
97-
}
108+
"properties": {"sec": {"type": "integer"}, "nsec": {"type": "integer"}},
98109
},
99-
"frame_id": {"type": "string"}
100-
}
101-
},
102-
"name": {
103-
"type": "array",
104-
"items": {"type": "string"}
105-
},
106-
"position": {
107-
"type": "array",
108-
"items": {"type": "number"}
109-
},
110-
"velocity": {
111-
"type": "array",
112-
"items": {"type": "number"}
110+
"frame_id": {"type": "string"},
111+
},
113112
},
114-
"effort": {
115-
"type": "array",
116-
"items": {"type": "number"}
117-
}
113+
"name": {"type": "array", "items": {"type": "string"}},
114+
"position": {"type": "array", "items": {"type": "number"}},
115+
"velocity": {"type": "array", "items": {"type": "number"}},
116+
"effort": {"type": "array", "items": {"type": "number"}},
118117
},
119-
"required": ["header", "name", "position", "velocity", "effort"]
120-
}
118+
"required": ["header", "name", "position", "velocity", "effort"],
119+
},
121120
},
122121
"tf2_msgs.TFMessage": {
123122
"foxglove_name": "tf2_msgs/msg/TFMessage",
@@ -136,11 +135,11 @@
136135
"type": "object",
137136
"properties": {
138137
"sec": {"type": "integer"},
139-
"nsec": {"type": "integer"}
140-
}
138+
"nsec": {"type": "integer"},
139+
},
141140
},
142-
"frame_id": {"type": "string"}
143-
}
141+
"frame_id": {"type": "string"},
142+
},
144143
},
145144
"child_frame_id": {"type": "string"},
146145
"transform": {
@@ -151,25 +150,25 @@
151150
"properties": {
152151
"x": {"type": "number"},
153152
"y": {"type": "number"},
154-
"z": {"type": "number"}
155-
}
153+
"z": {"type": "number"},
154+
},
156155
},
157156
"rotation": {
158157
"type": "object",
159158
"properties": {
160159
"x": {"type": "number"},
161160
"y": {"type": "number"},
162161
"z": {"type": "number"},
163-
"w": {"type": "number"}
164-
}
165-
}
166-
}
167-
}
168-
}
169-
}
162+
"w": {"type": "number"},
163+
},
164+
},
165+
},
166+
},
167+
},
168+
},
170169
}
171-
}
172-
}
170+
},
171+
},
173172
},
174173
"sensor_msgs.PointCloud2": {
175174
"foxglove_name": "sensor_msgs/msg/PointCloud2",
@@ -181,15 +180,12 @@
181180
"properties": {
182181
"stamp": {
183182
"type": "object",
184-
"properties": {
185-
"sec": {"type": "integer"},
186-
"nsec": {"type": "integer"}
187-
},
188-
"required": ["sec", "nsec"]
183+
"properties": {"sec": {"type": "integer"}, "nsec": {"type": "integer"}},
184+
"required": ["sec", "nsec"],
189185
},
190-
"frame_id": {"type": "string"}
186+
"frame_id": {"type": "string"},
191187
},
192-
"required": ["stamp", "frame_id"]
188+
"required": ["stamp", "frame_id"],
193189
},
194190
"height": {"type": "integer"},
195191
"width": {"type": "integer"},
@@ -203,25 +199,28 @@
203199
"datatype": {"type": "integer"},
204200
"count": {"type": "integer"},
205201
},
206-
"required": ["name","offset","datatype","count"]
207-
}
202+
"required": ["name", "offset", "datatype", "count"],
203+
},
208204
},
209205
"is_bigendian": {"type": "boolean"},
210206
"point_step": {"type": "integer"},
211207
"row_step": {"type": "integer"},
212-
"data": {
213-
"type": "string",
214-
"contentEncoding": "base64"
215-
},
216-
"is_dense": {"type": "boolean"}
208+
"data": {"type": "string", "contentEncoding": "base64"},
209+
"is_dense": {"type": "boolean"},
217210
},
218211
"required": [
219-
"header","height","width","fields",
220-
"is_bigendian","point_step","row_step",
221-
"data","is_dense"
222-
]
223-
}
224-
}
212+
"header",
213+
"height",
214+
"width",
215+
"fields",
216+
"is_bigendian",
217+
"point_step",
218+
"row_step",
219+
"data",
220+
"is_dense",
221+
],
222+
},
223+
},
225224
}
226225

227226
# Mapping of ROS primitive types to JSON schema types
@@ -242,18 +241,12 @@
242241
"byte": {"type": "integer", "minimum": 0, "maximum": 255},
243242
"time": {
244243
"type": "object",
245-
"properties": {
246-
"sec": {"type": "integer"},
247-
"nsec": {"type": "integer"}
248-
},
249-
"required": ["sec", "nsec"]
244+
"properties": {"sec": {"type": "integer"}, "nsec": {"type": "integer"}},
245+
"required": ["sec", "nsec"],
250246
},
251247
"duration": {
252248
"type": "object",
253-
"properties": {
254-
"sec": {"type": "integer"},
255-
"nsec": {"type": "integer"}
256-
},
257-
"required": ["sec", "nsec"]
249+
"properties": {"sec": {"type": "integer"}, "nsec": {"type": "integer"}},
250+
"required": ["sec", "nsec"],
258251
},
259-
}
252+
}

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