Danvi/feat/pubsub redesign

[leshy]

Problem

Closes DIM-XXX

Solution

How to Test

Contributor License Agreement

• I have read and approved the CLA.

[codecov]

Codecov Report

❌ Patch coverage is 78.79342% with 116 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/visualization/rerun/bridge.py	20.00%	59 Missing and 1 partial ⚠️
dimos/core/transport.py	81.98%	19 Missing and 1 partial ⚠️
dimos/protocol/pubsub/impl/shmpubsub.py	77.14%	5 Missing and 3 partials ⚠️
dimos/visualization/rerun/native_bridge.py	76.00%	6 Missing ⚠️
dimos/protocol/pubsub/impl/jpeg_lcm.py	50.00%	5 Missing ⚠️
dimos/protocol/pubsub/impl/lcmpubsub.py	91.42%	2 Missing and 1 partial ⚠️
dimos/protocol/pubsub/registry.py	90.90%	2 Missing and 1 partial ⚠️
dimos/core/stream.py	66.66%	2 Missing ⚠️
dimos/protocol/pubsub/encoders.py	90.00%	1 Missing and 1 partial ⚠️
dimos/protocol/pubsub/impl/webrtc/webrtcpubsub.py	75.00%	1 Missing and 1 partial ⚠️
... and 4 more

@@            Coverage Diff             @@
##             main    #2871      +/-   ##
==========================================
- Coverage   72.21%   71.50%   -0.72%     
==========================================
  Files        1001     1003       +2     
  Lines       89755    90293     +538     
  Branches     8196     8286      +90     
==========================================
- Hits        64818    64562     -256     
- Misses      22718    23580     +862     
+ Partials     2219     2151      -68     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	65.20% <78.79%> (+0.10%)	⬆️
OS-ubuntu-latest	67.62% <78.79%> (+0.12%)	⬆️
Py-3.10	67.62% <78.79%> (+0.13%)	⬆️
Py-3.11	67.62% <78.79%> (+0.12%)	⬆️
Py-3.12	?
Py-3.13	?
Py-3.14	67.63% <78.79%> (+0.13%)	⬆️
Py-3.14t	?
SelfHosted-macOS	?

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/agents/conftest.py	88.00% <100.00%> (ø)
dimos/agents/mcp/conftest.py	88.00% <100.00%> (ø)
dimos/core/test_zenoh_transport.py	99.35% <100.00%> (+<0.01%)	⬆️
dimos/core/transport_factory.py	100.00% <100.00%> (ø)
dimos/hardware/sensors/lidar/fastlio2/module.py	89.15% <ø> (ø)
dimos/hardware/sensors/lidar/pointlio/module.py	91.96% <ø> (ø)
dimos/msgs/tf2_msgs/test_TFMessage_lcmpub.py	100.00% <100.00%> (ø)
dimos/navigation/cmu_nav/main.py	49.12% <ø> (+5.20%)	⬆️
dimos/navigation/cmu_nav/modules/pgo/pgo.py	85.18% <ø> (ø)
...ation/dannav/holonomic_tc/test_dan_holonomic_tc.py	99.14% <100.00%> (ø)
... and 32 more

... and 38 files with indirect coverage changes

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