Jeff/fix/rosnav8

dimos/core/coordination/python_worker.py

@@ -17,6 +17,7 @@
 import multiprocessing
 from multiprocessing.connection import Connection
 import os
+import signal
 import sys
 import threading
 import traceback
@@ -319,12 +320,15 @@ def _suppress_console_output() -> None:
 
 def _worker_entrypoint(conn: Connection, worker_id: int) -> None:
     apply_library_config()
+    # Ignore SIGINT so the coordinator can orchestrate shutdown via the pipe.
+    # Without this, workers race with the coordinator: they start tearing down
+    # modules locally while the coordinator tries to send stop() RPCs, causing
+    # BrokenPipeErrors.
+    signal.signal(signal.SIGINT, signal.SIG_IGN)
     instances: dict[int, Any] = {}
 
     try:
         _worker_loop(conn, instances, worker_id)
-    except KeyboardInterrupt:
-        logger.info("Worker got KeyboardInterrupt.", worker_id=worker_id)
     except Exception as e:
         logger.error(f"Worker process error: {e}", exc_info=True)
     finally:
@@ -343,12 +347,6 @@ def _worker_entrypoint(conn: Connection, worker_id: int) -> None:
                     worker_id=worker_id,
                     module_id=module_id,
                 )
-            except KeyboardInterrupt:
-                logger.warning(
-                    "KeyboardInterrupt during worker stop",
-                    module=type(instance).__name__,
-                    worker_id=worker_id,
-                )
             except Exception:
                 logger.error("Error during worker shutdown", exc_info=True)
 
@@ -359,7 +357,7 @@ def _worker_loop(conn: Connection, instances: dict[int, Any], worker_id: int) ->
             if not conn.poll(timeout=0.1):
                 continue
             request = conn.recv()
-        except (EOFError, KeyboardInterrupt):
+        except EOFError:
             break
 
         response: WorkerResponse

dimos/core/docker_module.py

@@ -30,7 +30,7 @@
 from dimos.core.rpc_client import ModuleProxyProtocol, RpcCall
 from dimos.protocol.rpc.pubsubrpc import LCMRPC
 from dimos.utils.logging_config import setup_logger
-from dimos.visualization.rerun.bridge import RERUN_GRPC_PORT, RERUN_WEB_PORT
+from dimos.visualization.constants import RERUN_GRPC_PORT, RERUN_WEB_PORT
 
 if TYPE_CHECKING:
     from collections.abc import Callable

dimos/core/global_config.py

@@ -13,13 +13,16 @@
 # limitations under the License.
 
 import re
-from typing import Literal, TypeAlias
 
 from pydantic_settings import BaseSettings, SettingsConfigDict
 
 from dimos.models.vl.types import VlModelName
-
-ViewerBackend: TypeAlias = Literal["rerun", "rerun-web", "rerun-connect", "foxglove", "none"]
+from dimos.visualization.constants import (
+    RERUN_ENABLE_WEB,
+    RERUN_OPEN_DEFAULT,
+    RerunOpenOption,
+    ViewerBackend,
+)
 
 
 def _get_all_numbers(s: str) -> list[float]:
@@ -37,6 +40,8 @@ class GlobalConfig(BaseSettings):
     replay_dir: str = "go2_sf_office"
     new_memory: bool = False
     viewer: ViewerBackend = "rerun"
+    rerun_open: RerunOpenOption = RERUN_OPEN_DEFAULT
+    rerun_web: bool = RERUN_ENABLE_WEB
     n_workers: int = 2
     memory_limit: str = "auto"
     mujoco_camera_position: str | None = None