Expand description
§rosbags-rs
A high-performance Rust library for reading ROS2 bag files with full Python rosbags compatibility.
This library provides comprehensive functionality to read ROS2 bag files, supporting both SQLite3 and MCAP storage formats. It focuses on reading capabilities and provides a safe, efficient interface for accessing ROS2 bag data with guaranteed compatibility with the Python rosbags library.
§Features
- ✅ Read ROS2 bag files in SQLite3 and MCAP formats
- ✅ Parse metadata.yaml files with full validation
- ✅ Filter messages by topic, time range, and connections
- ✅ Compression support for zstd compressed bags
- ✅ Type-safe message handling with comprehensive error handling
- ✅ Cross-compatibility with Python rosbags library (byte-for-byte identical results)
- ✅ 94+ ROS2 message types supported across all major categories
- ✅ High performance with zero-copy message reading where possible
§Supported ROS2 Versions
- ROS2 Humble Hawksbill
- ROS2 Iron Irwini
- ROS2 Jazzy Jalopy
- ROS2 Rolling Ridley
§Quick Start
use rosbags_rs::{Reader, ReaderError};
use std::path::Path;
fn main() -> Result<(), ReaderError> {
let bag_path = Path::new("/path/to/rosbag");
let mut reader = Reader::new(bag_path)?;
reader.open()?;
println!("Bag contains {} messages", reader.message_count());
println!("Duration: {:.2} seconds", reader.duration() as f64 / 1_000_000_000.0);
// List all topics
for topic in reader.topics() {
println!("Topic: {}, Type: {}, Count: {}",
topic.name, topic.message_type, topic.message_count);
}
// Read all messages
for message_result in reader.messages()? {
let message = message_result?;
println!("Topic: {}, Timestamp: {}, Data length: {}",
message.topic, message.timestamp, message.data.len());
}
Ok(())
}§Advanced Usage
§Filter by Topic
use rosbags_rs::Reader;
let mut reader = Reader::new(bag_path)?;
reader.open()?;
// Filter messages for specific topics
let target_topics = vec!["/camera/image_raw", "/imu/data"];
for message_result in reader.messages()? {
let message = message_result?;
if target_topics.contains(&message.topic.as_str()) {
println!("Found message on topic: {}", message.topic);
}
}§Time Range Filtering
use rosbags_rs::Reader;
let mut reader = Reader::new(bag_path)?;
reader.open()?;
let start_time = 1000000000; // nanoseconds
let end_time = 2000000000;
for message_result in reader.messages()? {
let message = message_result?;
if message.timestamp >= start_time && message.timestamp <= end_time {
println!("Message in time range: {}", message.timestamp);
}
}§Supported Message Types
The library supports 94+ ROS2 message types including:
- std_msgs: String, Header, Int32, Float64, etc.
- geometry_msgs: Point, Pose, Transform, Twist, etc.
- sensor_msgs: Image, PointCloud2, Imu, NavSatFix, etc.
- nav_msgs: Odometry, Path, MapMetaData, etc.
- diagnostic_msgs: DiagnosticArray, DiagnosticStatus, etc.
- builtin_interfaces: Time, Duration
§Cross-Compatibility
This library guarantees byte-for-byte identical results compared to the Python rosbags library, making it a drop-in replacement for performance-critical applications.
Re-exports§
pub use error::ReaderError;pub use error::Result;pub use metadata::BagMetadata;pub use metadata::TopicMetadata;pub use reader::Reader;pub use types::Connection;pub use types::Message;pub use types::TopicInfo;