rs-bag

Description

A library to read, write and modify ROS 2 rosbag2 storage files (sqlite3 .db3), implemented in pure Rust on top of the turso SQLite engine — no ROS installation required.

Features

• Open an existing rosbag directory or create a new one (optionally split into multiple .db3 files)
• Read messages as raw CDR bytes (RawReadIterator) or deserialize them directly into any serde type (TypedReadIterator<T>)
• Filter reads by topic names and/or a timestamp interval
• Insert new messages serialized via serde + CDR
• Access the bag's topics and metadata

Message deletion, modification and full metadata support are not implemented yet — see the TODOs below.

Current state

This crate is in an early stage (pre-1.0). The read path works for single-file and split bags, but some APIs are still unimplemented stubs (that will panic) and split-bag opening assumes a single .db3 per bag.

TODOs

• Opening an existing rosbag

• Reading messages

  • Based on a topic name
  • Based on an interval
  • RawReadIterator
  • TypedReadIterator
  • Get index (Hashmap of timestamps per topic)
  • Get topics per db3 file
  • Unify topics with each db3 file's topic_id

• Metadata File

  • Read existing metadata
  • Create metadata for rosbag

• Writing messages

  • Insert messages
  • Push/Pop Operations
  • Use ReadIterator for Pop Operations
  • Add and remove topics

• Modify messages

  • Create mutable message type
  • Reuse functions of Reader and make Message mutable