feat(viewer): Ctrl+click nav goals, multi-robot teleop, overlay UX

- Ctrl+click in 3D view publishes nav goal (PointStamped LCM);
  plain click is normal Rerun selection with no side effects.
  Uses Arc<AtomicBool> shared between DimosApp and on_event callback.

- Multi-robot teleop: KeyboardHandler.set_active_robot() switches
  WASD publishing to /<robot>/cmd_vel. Sends stop to old robot first.

- Overlay shifted to (280,12) to clear Rerun's left panel.
  Greyed out when idle, bright when active. Shows active robot name.

- New StartupOptionsPatch API for injecting on_event callbacks
  through run_with_app_wrapper without touching CLI arg parsing.

Author: Ubuntu

crates/top/rerun/src/commands/entrypoint.rs

@@ -898,6 +898,9 @@ pub fn start_native_viewer(
 
     let startup_options = native_startup_options_from_args(args)?;
 
+
+
+
     let connect = args.connect.is_some();
     let follow = args.follow;
     let renderer = args.renderer.as_deref();
@@ -1708,6 +1711,10 @@ fn record_cli_command_analytics(args: &Args) {
 /// Used by dimos-viewer to inject keyboard teleop and other behaviors.
 pub type AppWrapper = Box<dyn FnOnce(re_viewer::App) -> Result<Box<dyn re_viewer::external::eframe::App>, Box<dyn std::error::Error + Send + Sync>> + Send>;
 
+/// A function that patches StartupOptions after they're built from CLI args.
+/// Used by dimos-viewer to inject on_event callbacks, etc.
+pub type StartupOptionsPatch = Box<dyn FnOnce(&mut re_viewer::StartupOptions) + Send>;
+
 /// Like [`run`], but accepts an optional `app_wrapper` callback that wraps the
 /// viewer App before it is handed to eframe. When `app_wrapper` is `None`,
 /// behavior is identical to stock Rerun.
@@ -1720,6 +1727,7 @@ pub fn run_with_app_wrapper<I, T>(
     call_source: CallSource,
     args: I,
     app_wrapper: Option<AppWrapper>,
+    startup_patch: Option<StartupOptionsPatch>,
 ) -> anyhow::Result<u8>
 where
     I: IntoIterator<Item = T>,
@@ -1812,6 +1820,7 @@ where
             #[cfg(feature = "native_viewer")]
             profiler,
             app_wrapper,
+            startup_patch,
         )
     };
 
@@ -1838,6 +1847,7 @@ fn run_impl_with_wrapper(
     tokio_runtime_handle: &tokio::runtime::Handle,
     #[cfg(feature = "native_viewer")] profiler: re_tracing::Profiler,
     app_wrapper: Option<AppWrapper>,
+    startup_patch: Option<StartupOptionsPatch>,
 ) -> anyhow::Result<()> {
     let connection_registry = re_redap_client::ConnectionRegistry::new_with_stored_credentials();
 
@@ -1959,6 +1969,7 @@ fn run_impl_with_wrapper(
                     #[cfg(feature = "server")]
                     server_options,
                     app_wrapper,
+                    startup_patch,
                 )
             } else {
                 Err(anyhow::anyhow!(
@@ -1985,11 +1996,15 @@ fn start_native_viewer_with_wrapper(
     #[cfg(feature = "server")] server_addr: std::net::SocketAddr,
     #[cfg(feature = "server")] server_options: re_sdk::ServerOptions,
     app_wrapper: Option<AppWrapper>,
+    startup_patch: Option<StartupOptionsPatch>,
 ) -> anyhow::Result<()> {
     use re_viewer::external::re_viewer_context;
     use crate::external::re_ui::{UICommand, UICommandSender as _};
 
-    let startup_options = native_startup_options_from_args(args)?;
+    let mut startup_options = native_startup_options_from_args(args)?;
+    if let Some(patch) = startup_patch {
+        patch(&mut startup_options);
+    }
 
     let connect = args.connect.is_some();
     let follow = args.follow;

crates/top/rerun/src/commands/mod.rs

@@ -35,7 +35,7 @@ mod analytics;
 
 #[cfg(feature = "analytics")]
 pub(crate) use self::analytics::AnalyticsCommands;
-pub use self::entrypoint::{run, run_with_app_wrapper, AppWrapper, Args as RerunArgs, native_startup_options_from_args};
+pub use self::entrypoint::{run, run_with_app_wrapper, AppWrapper, StartupOptionsPatch, Args as RerunArgs, native_startup_options_from_args};
 #[cfg(feature = "data_loaders")]
 pub use self::mcap::McapCommands;
 pub use self::rrd::RrdCommands;

crates/top/rerun/src/lib.rs

@@ -124,7 +124,7 @@ pub mod demo_util;
 pub mod log_integration;
 
 #[cfg(feature = "run")]
-pub use commands::{CallSource, run, run_with_app_wrapper, AppWrapper, RerunArgs, native_startup_options_from_args};
+pub use commands::{CallSource, run, run_with_app_wrapper, AppWrapper, StartupOptionsPatch, RerunArgs, native_startup_options_from_args};
 #[cfg(feature = "log")]
 pub use log_integration::Logger;
 #[cfg(feature = "log")]