feat(viewer): native Rerun CLI arg handling via run_with_app_wrapper()#14
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spomichter merged 1 commit intomainfrom Mar 16, 2026
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feat(viewer): native Rerun CLI arg handling via run_with_app_wrapper()#14spomichter merged 1 commit intomainfrom
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…apper Replace custom Args struct (5 flags) with Rerun's full CLI parser. All stock Rerun flags now work: --connect, --serve-grpc, --serve-web, --memory-limit, --port, --bind, --save, subcommands (reset, rrd, auth), etc. DimOS behavior (keyboard teleop, click-to-nav) injected via AppWrapper callback that wraps re_viewer::App in DimosApp — only for the native viewer path. All other modes (headless gRPC, web viewer, save) work identically to stock Rerun. viewer.rs: 265 → 92 lines.
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* feat: deag, click on enable * fix: remove logging * fix: reposition default * fix: default position * fix(viewer): restore click-to-nav via StartupOptionsPatch PR #14's run_with_app_wrapper rewrote viewer.rs and dropped the on_event handler for click-to-navigate. This restores it properly: - Add StartupOptionsPatch struct to rerun entrypoint with on_event callback - Wire Ctrl+click -> PointStamped LCM on /clicked_point in viewer.rs - Arc<AtomicBool> for ctrl state sharing (Send required by AppWrapper) - 100ms debounce on nav goal publishing --------- Co-authored-by: ruthwikdasyam <ruthwikdasyam@gmail.com>
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Summary
Replace dimos-viewer's custom 5-flag Args struct with Rerun's full native CLI parser. All ~30 stock Rerun flags now work unchanged (
--connect,--serve-grpc,--serve-web,--memory-limit,--port,--bind,--save, subcommands, etc.).DimOS behavior (keyboard teleop, click-to-nav) is injected cleanly via two new extension points:
AppWrapper— wrapsre_viewer::AppinDimosAppfor keyboard teleop overlayStartupOptionsPatch— patchesStartupOptionsafter CLI parsing (injectson_eventfor click-to-nav)Changes
Native CLI args
viewer.rs: 265 → ~100 lines. Delegates torerun::run_with_app_wrapper()instead of manual setup.reset,rrd,auth), and.rrdfile loading work.--openflag removed; unknown flags properly rejected by clap.Ctrl+click nav goals
/clicked_pointArc<AtomicBool>shared between DimosApp (writes ctrl state) andon_eventcallback (reads it)Keyboard teleop overlay
Multi-robot teleop
KeyboardHandler.set_active_robot(Some("/world/go2"))publishes to/world/go2/cmd_velNone= default/cmd_velchannelRerun entrypoint extensions
pub type AppWrapper— wraps App before eframe gets itpub type StartupOptionsPatch— patches StartupOptions post-CLI-parsepub fn run_with_app_wrapper()— likerun()but with both hooksArgs,native_startup_options_from_argspub for downstream useTesting
14/14 CLI integration tests, 27+ unit tests pass.
cargo build -p dimos-viewer --release cargo test -p dimos-viewer --lib --release ./target/release/dimos-viewer --help ./target/release/dimos-viewer --connect rerun+http://127.0.0.1:9876/proxy ./target/release/dimos-viewer --serve-grpc --port 9877Breaking Changes
--openflag removed (use Rerun's native--connectinstead)--port 9877if needed)