isaac-sim-rerun 0.1.0

Rerun viewer adapter for Isaac Sim sensor pipelines.
Documentation

isaac-sim-rerun

Crates.io Documentation License

Rerun viewer adapter for the Isaac Sim Rust SDK. Exposes a Viewer builder that registers bridge consumers forwarding sensor frames to a rerun RecordingStream over gRPC. Each sensor stream opens its own gRPC connection so a high-bandwidth camera channel cannot backpressure a low-bandwidth LiDAR stream. All streams share one recording_id so the rerun viewer renders them on a single timeline.

Usage

[dependencies]
isaac-sim-rerun = "0.1"

use isaac_sim_rerun::Viewer;
use isaac_sim_bridge::{LidarFlatScan, LidarPointCloud};

Viewer::new()
    .with_grpc_addr("192.168.1.10:9876")
    .with_source(LidarFlatScan, "/World/Carter/lidar_2d", "scene/lidar/flatscan")
    .with_source(LidarPointCloud, "/World/Carter/lidar_3d", "scene/lidar/pointcloud")
    .run()?;
# Ok::<(), eyre::Report>(())

Viewer::run() blocks until the process exits. The default gRPC address is 127.0.0.1:9876; override via with_grpc_addr or the ISAAC_SIM_RS_RERUN_GRPC_ADDR env var.

Part of the isaac-sim-rs SDK. The facade crate re-exports this as the rerun namespace when the rerun feature is enabled.

Compatibility

isaac-sim-rerun rerun Rust MSRV
0.1 0.31 1.85

rerun is pre-1.0; every minor bump is a breaking change. Major bump in lockstep.

rerun 0.31 is pre-1.0; minor bumps are breaking. Pin your rerun dependency to the same major to ensure RecordingStream compatibility.

License notice for re-publishers

MPL-2.0 is per-file copyleft. If you bundle this crate's binary into your own crate or extension, retain the SPDX header on every source file you include. The full license text is in LICENSE at the repo root.

License

MPL-2.0 (see LICENSE).