fix(go2): route phone teleop command and video streams

dimos/teleop/phone/blueprints.py

@@ -14,6 +14,9 @@
 # limitations under the License.
 
 from dimos.core.coordination.blueprints import autoconnect
+from dimos.core.transport import JpegLcmTransport, LCMTransport
+from dimos.msgs.geometry_msgs.Twist import Twist
+from dimos.msgs.sensor_msgs.Image import Image
 from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import unitree_go2_basic
 from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_fleet import unitree_go2_fleet
 from dimos.teleop.phone.phone_extensions import SimplePhoneTeleop
@@ -27,6 +30,14 @@
 teleop_phone_go2 = autoconnect(
     SimplePhoneTeleop.blueprint(),
     unitree_go2_basic,
+).transports(
+    {
+        # Browser/Rerun keyboard controls publish tele_cmd_vel; Go2Connection
+        # listens on cmd_vel in this direct teleop stack.
+        ("tele_cmd_vel", Twist): LCMTransport("/cmd_vel", Twist),
+        # RerunBridge listens to LCM pubsubs, so expose the camera over JPEG-LCM.
+        ("color_image", Image): JpegLcmTransport("/color_image", Image),
+    }
 )
 
 # Phone teleop wired to Go2 fleet — twist commands sent to all robots

dimos/teleop/phone/test_blueprints.py

@@ -0,0 +1,34 @@
+# 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.transport import JpegLcmTransport, LCMTransport
+from dimos.msgs.geometry_msgs.Twist import Twist
+from dimos.msgs.sensor_msgs.Image import Image
+from dimos.teleop.phone.blueprints import teleop_phone_go2
+
+
+def test_teleop_phone_go2_routes_browser_keyboard_to_go2_cmd_vel() -> None:
+    transport = teleop_phone_go2.transport_map[("tele_cmd_vel", Twist)]
+
+    assert type(transport) is LCMTransport
+    assert transport.topic.topic == "/cmd_vel"
+    assert transport.topic.lcm_type is Twist
+
+
+def test_teleop_phone_go2_exposes_camera_to_rerun_over_jpeg_lcm() -> None:
+    transport = teleop_phone_go2.transport_map[("color_image", Image)]
+
+    assert isinstance(transport, JpegLcmTransport)
+    assert transport.topic.topic == "/color_image"
+    assert transport.topic.lcm_type is Image