feat(nav): add clicked_point input to replanning planner and rerun clicking blueprint (#1394)

* feat(nav): add clicked_point input to replanning planner

subscribe to PointStamped clicks from rerun viewer, convert to
PoseStamped via .to_pose_stamped() and feed to goal handler.

wire with: LCMTransport("/clicked_point", PointStamped)

DIM-643

* feat(examples): add rerun click-to-navigate test script

runs Go2 smart blueprint with viewer_mode=none, connects to custom
rerun viewer on gRPC port 9877, wires /clicked_point LCM transport
to planner's clicked_point input.

DIM-643

* fix(examples): add --simulation flag to click test

supports --simulation (mujoco), --robot-ip, --viewer-url args

* fix(examples): init rerun and connect grpc before coordinator.start

rr.init + rr.connect_grpc must happen before the bridge starts,
otherwise rerun disables itself with no active sink

* fix(examples): connect grpc after bridge start to avoid double rr.init

the bridge calls rr.init('dimos') in start(). calling rr.init before
that resets the recording stream. now we connect_grpc after start()
so the bridge's rr.init creates the stream, then we add our gRPC sink.

* fix(examples): init rerun in main process before connect_grpc

the bridge runs in a worker subprocess (multiprocessing), so its
rr.init() only affects that subprocess. the main process needs its
own rr.init() + connect_grpc() for data to reach the viewer.

also adds --replay flag for headless testing.

* feat(rerun): add viewer_mode=connect for external viewer support

adds connect mode to rerun bridge — connects to an external viewer
via grpc instead of spawning a new one. needed for custom viewers
like the click-to-navigate fork.

example script now works like a normal blueprint.

DIM-643

* fix(examples): use build().loop() per readme convention

* feat(blueprints): add unitree-go2-click-nav blueprint

proper blueprint registered in all_blueprints. run with:
  dimos run unitree-go2-click-nav --simulation --viewer-backend rerun-connect

adds rerun-connect viewer backend that connects to an external
rerun viewer (custom fork) instead of spawning a new one.

DIM-643

Author: spomichter

dimos/core/global_config.py

@@ -19,7 +19,7 @@
 
 from dimos.mapping.occupancy.path_map import NavigationStrategy
 
-ViewerBackend: TypeAlias = Literal["rerun", "rerun-web", "foxglove", "none"]
+ViewerBackend: TypeAlias = Literal["rerun", "rerun-web", "rerun-connect", "foxglove", "none"]
 
 
 def _get_all_numbers(s: str) -> list[float]:

dimos/navigation/replanning_a_star/module.py

@@ -21,7 +21,7 @@
 from dimos.core.global_config import GlobalConfig, global_config
 from dimos.core.module import Module
 from dimos.core.stream import In, Out
-from dimos.msgs.geometry_msgs import PoseStamped, Twist
+from dimos.msgs.geometry_msgs import PointStamped, PoseStamped, Twist
 from dimos.msgs.nav_msgs import OccupancyGrid, Path
 from dimos.navigation.base import NavigationInterface, NavigationState
 from dimos.navigation.replanning_a_star.global_planner import GlobalPlanner
@@ -31,6 +31,7 @@ class ReplanningAStarPlanner(Module, NavigationInterface):
     odom: In[PoseStamped]  # TODO: Use TF.
     global_costmap: In[OccupancyGrid]
     goal_request: In[PoseStamped]
+    clicked_point: In[PointStamped]
     target: In[PoseStamped]
 
     goal_reached: Out[Bool]
@@ -60,6 +61,14 @@ def start(self) -> None:
         )
         self._disposables.add(Disposable(self.target.subscribe(self._planner.handle_goal_request)))
 
+        self._disposables.add(
+            Disposable(
+                self.clicked_point.subscribe(
+                    lambda pt: self._planner.handle_goal_request(pt.to_pose_stamped())
+                )
+            )
+        )
+
         self._disposables.add(self._planner.path.subscribe(self.path.publish))
 
         self._disposables.add(self._planner.cmd_vel.subscribe(self.cmd_vel.publish))

dimos/robot/all_blueprints.py

@@ -76,6 +76,7 @@
     "unitree-go2-agentic-mcp": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic_mcp:unitree_go2_agentic_mcp",
     "unitree-go2-agentic-ollama": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic_ollama:unitree_go2_agentic_ollama",
     "unitree-go2-basic": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic:unitree_go2_basic",
+    "unitree-go2-click-nav": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_click_nav:unitree_go2_click_nav",
     "unitree-go2-detection": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_detection:unitree_go2_detection",
     "unitree-go2-ros": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_ros:unitree_go2_ros",
     "unitree-go2-spatial": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_spatial:unitree_go2_spatial",

dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py

@@ -105,6 +105,12 @@ def _static_base_link(rr: Any) -> list[Any]:
         from dimos.visualization.rerun.bridge import rerun_bridge
 
         with_vis = autoconnect(_transports_base, rerun_bridge(**rerun_config))
+    case "rerun-connect":
+        from dimos.visualization.rerun.bridge import rerun_bridge
+
+        with_vis = autoconnect(
+            _transports_base, rerun_bridge(viewer_mode="connect", **rerun_config)
+        )
     case "rerun-web":
         from dimos.visualization.rerun.bridge import rerun_bridge
 

dimos/robot/unitree/go2/blueprints/smart/unitree_go2_click_nav.py

@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dimos.core.blueprints import autoconnect
+from dimos.core.transport import LCMTransport
+from dimos.mapping.costmapper import cost_mapper
+from dimos.mapping.voxels import voxel_mapper
+from dimos.msgs.geometry_msgs import PointStamped
+from dimos.navigation.replanning_a_star.module import replanning_a_star_planner
+from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import unitree_go2_basic
+
+unitree_go2_click_nav = (
+    autoconnect(
+        unitree_go2_basic,
+        voxel_mapper(voxel_size=0.1),
+        cost_mapper(),
+        replanning_a_star_planner(),
+    )
+    .transports(
+        {
+            ("clicked_point", PointStamped): LCMTransport("/clicked_point", PointStamped),
+        }
+    )
+    .global_config(n_workers=6, robot_model="unitree_go2")
+)
+
+__all__ = ["unitree_go2_click_nav"]

dimos/visualization/rerun/bridge.py

@@ -123,7 +123,7 @@ class RerunConvertible(Protocol):
     def to_rerun(self) -> RerunData: ...
 
 
-ViewerMode = Literal["native", "web", "none"]
+ViewerMode = Literal["native", "web", "connect", "none"]
 
 
 def _default_blueprint() -> Blueprint:
@@ -158,6 +158,7 @@ class Config(ModuleConfig):
     entity_prefix: str = "world"
     topic_to_entity: Callable[[Any], str] | None = None
     viewer_mode: ViewerMode = "native"
+    connect_url: str = "rerun+http://127.0.0.1:9877/proxy"
     memory_limit: str = "25%"
 
     # Blueprint factory: callable(rrb) -> Blueprint for viewer layout configuration
@@ -265,6 +266,8 @@ def start(self) -> None:
         elif self.config.viewer_mode == "web":
             server_uri = rr.serve_grpc()
             rr.serve_web_viewer(connect_to=server_uri, open_browser=False)
+        elif self.config.viewer_mode == "connect":
+            rr.connect_grpc(self.config.connect_url)
         # "none" - just init, no viewer (connect externally)
 
         if self.config.blueprint: