rs-bag 0.1.2

Read, write and modify ROS 2 rosbag2 sqlite3 (.db3) storage files
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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 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