Fix old test that was skipped

[Dreamsorcerer]

No description provided.

[greptile-apps]

Greptile Summary

This PR revives a previously skipped integration test for LCM publishing of TFMessage transforms. The skip marker is removed and the test is given a proper structure: a try/finally fixture for LCM lifecycle management, real subscriptions via CallbackCollector, and round-trip assertions on decoded messages.

• The lcm fixture wraps lcm.start() / lcm.stop() in a try/finally block, correctly addressing the thread-leak concern raised on the prior version.
• The bare time.sleep smoke test is replaced by collector.wait() with a 5-second timeout and assertions on the received TFMessage contents, giving the test real pass/fail semantics.
• The dimos_lcm import that was previously guarded behind the skip marker is now handled naturally through TFMessage.py's own module-level import, removing the need for an in-function import guard.

Confidence Score: 5/5

The change is self-contained to a single test file and does not touch production code; the reworked test correctly manages LCM lifecycle and asserts on decoded message contents.

The fixture properly stops the LCM thread in its finally block, eliminating the thread-leak the autouse monitor_threads fixture would have caught. Assertions are correct: both publish calls use the right Transform objects and the expected child_frame_id lists match the constructed messages. No production code is changed.

No files require special attention.

Important Files Changed

Filename	Overview
dimos/msgs/tf2_msgs/test_TFMessage_lcmpub.py	Skipped smoke test replaced with a proper round-trip integration test: adds an LCM fixture with cleanup, subscribes before publishing, and asserts on decoded TFMessage contents using CallbackCollector.

Sequence Diagram

sequenceDiagram
    participant F as lcm fixture
    participant T as test_publish_transforms
    participant L as LCM instance
    participant C as CallbackCollector
    participant LT as LCM handler thread

    F->>L: "LCM(url=lcm_url)"
    F->>L: lcm.start()
    F-->>T: yield lcm

    T->>C: CallbackCollector(2)
    T->>L: lcm.subscribe(topic, collector)
    T->>L: lcm.publish(TFMessage(world_to_base, base_to_arm))
    T->>L: lcm.publish(TFMessage(world_to_base, arm_to_gripper))
    LT-->>C: callback(TFMessage, topic) [msg 1]
    LT-->>C: callback(TFMessage, topic) [msg 2]
    T->>C: collector.wait()
    T->>T: "assert len(results)==2"
    T->>T: assert child_frame_ids msg1
    T->>T: assert child_frame_ids msg2

    F->>L: lcm.stop() [finally]

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_{Reviews (2): Last reviewed commit: "[autofix.ci] apply automated fixes" | Re-trigger Greptile}

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ All tests successful. No failed tests found.

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