DimSim: toggleable sensor channels (depth, color, lidar)

[Viswa4599]

Problem

DimSim always publishes all sensor channels (color_image, depth_image, lidar, odom). Real hardware (RealSense, ZED) has enable_depth toggles but DimSim has no equivalent.

Paul reports most bandwidth is consumed by /depth_image at 2 Hz. Some robots don't have depth cameras.

Proposed Solution

• Add sensor enable/disable flags to DimSim config:

  DimSimConfig(enable_color=True, enable_depth=True, enable_lidar=True)

• Pass to bridge → browser to skip capture+publish for disabled channels

• Support runtime toggle via SceneClient

• Match enable_depth pattern from RealSense/ZED modules

Files to Change

• dimos/robot/sim/bridge.py — pass config flags to CLI
• DimSim/dimos-cli/bridge/server.ts — relay enable flags
• DimSim/src/dimos/dimosBridge.ts — skip disabled sensors in _publishSensors()

Context: dimos team feedback on PR #1390.

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Synced from DIM-777 by summer