feat(transport): rust zenoh support and api refactor

[aclauer]

Problem

Only ~900 lines of source code change, the rest is Cargo.lock

Closes DIM-XXX

Solution

• rewrite the Rust transport trait to be a real pub sub contract
• each topic gets individual publish thread (necessary for QoS to be per topic)
• add Zenoh transport. key expressions are passed to Rust from Python
• add Zenoh QoS

How to Test

local ping pong

python3 rust_ping_pong.py --transport=zenoh
python3 rust_ping_pong.py --transport=lcm

remote ping pong (run on different machines, connected to same network)

DIMOS_TRANSPORT=zenoh ./target/release/pong <<< '{"topics":{"data":"dimos/pingpong_data/geometry_msgs.Twist","confirm":"dimos/pingpong_confirm/geometry_msgs.Twist"},"config":{"sample_config":0}}'

DIMOS_TRANSPORT=zenoh ./target/release/ping <<< '{"topics":{"data":"dimos/pingpong_data/geometry_msgs.Twist","confirm":"dimos/pingpong_confirm/geometry_msgs.Twist"},"config":null}'

benchmark between lcm and zenoh locally

cd dimos/native/rust
cargo run --release --example transport_benchmark

Contributor License Agreement

• I have read and approved the CLA.

[codecov]

Codecov Report

❌ Patch coverage is 63.23529% with 25 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/core/native_module.py	17.39%	18 Missing and 1 partial ⚠️
dimos/core/transport.py	71.42%	6 Missing ⚠️

@@            Coverage Diff             @@
##             main    #2753      +/-   ##
==========================================
- Coverage   71.91%   71.91%   -0.01%     
==========================================
  Files         979      979              
  Lines       87346    87401      +55     
  Branches     7982     7990       +8     
==========================================
+ Hits        62819    62851      +32     
- Misses      22387    22410      +23     
  Partials     2140     2140              

Flag	Coverage Δ
OS-ubuntu-24.04-arm	64.56% <63.23%> (-0.02%)	⬇️
OS-ubuntu-latest	67.05% <63.23%> (-0.01%)	⬇️
Py-3.10	67.03% <63.23%> (-0.02%)	⬇️
Py-3.11	67.03% <63.23%> (-0.01%)	⬇️
Py-3.12	67.04% <63.23%> (-0.01%)	⬇️
Py-3.13	67.03% <63.23%> (-0.02%)	⬇️
Py-3.14	67.04% <63.23%> (-0.02%)	⬇️
Py-3.14t	67.04% <63.23%> (-0.01%)	⬇️
SelfHosted-Large	30.10% <30.88%> (+<0.01%)	⬆️
SelfHosted-Linux	37.66% <39.70%> (-0.01%)	⬇️
SelfHosted-macOS	36.02% <42.64%> (+<0.01%)	⬆️

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

Files with missing lines	Coverage Δ
dimos/protocol/pubsub/impl/test_zenohpubsub.py	98.58% <100.00%> (+0.05%)	⬆️
dimos/protocol/pubsub/impl/zenohpubsub.py	91.46% <100.00%> (+0.61%)	⬆️
dimos/core/transport.py	66.85% <71.42%> (-0.12%)	⬇️
dimos/core/native_module.py	67.87% <17.39%> (-4.74%)	⬇️

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[greptile-apps]

Greptile Summary

This PR adds Rust Zenoh transport support and updates native module transport selection. The main changes are:

• Runtime selection between LCM and Zenoh for Rust native modules.
• Native Zenoh publish, subscribe, key handling, and QoS wiring.
• Python-side channel and QoS metadata passed to stdin-configured native modules.
• Per-output Rust publish workers for transport sends.
• Updated Rust examples, docs, tests, and lockfiles.

Confidence Score: 5/5

This looks safe to merge.

• No blocking issues found in the changed code.

Important Files Changed

Filename	Overview
native/rust/dimos-module/src/lcm.rs	Refactors LCM receive handling into callback registration over the shared transport loop.
native/rust/dimos-module/src/module.rs	Updates the module runtime for callback subscriptions, per-output publish queues, and stdin QoS parsing.
native/rust/dimos-module/src/zenoh.rs	Adds the native Zenoh transport with publisher caching, subscriptions, key normalization, and QoS parsing.
dimos/core/native_module.py	Passes the selected transport and optional output QoS metadata to native modules.
dimos/core/transport.py	Adds channel and publish QoS accessors used by native module startup.

_{Reviews (13): Last reviewed commit: "Reduce buffers now that we have channel ..." | Re-trigger Greptile}