rosbag-rs

A pure Rust crate for reading ROS bag files.

Example

use rosbag::{ChunkRecord, MessageRecord, IndexRecord, RosBag};

let bag = RosBag::new(path)?;
// Iterate over records in the chunk section
for record in bag.chunk_records() {
    match record? {
        ChunkRecord::Chunk(chunk) => {
            // iterate over messages in the chunk
            for msg in chunk.messages() {
                match msg? {
                    MessageRecord::MessageData(msg_data) => {
                        // ..
                    }
                    MessageRecord::Connection(conn) => {
                        // ..
                    }
                }
            }
        },
        ChunkRecord::IndexData(index_data) => {
            // ..
        },
    }
}
// Iterate over records in the index section
for record in bag.index_records() {
    match record? {
        IndexRecord::IndexData(index_data) => {
            // ..
        }
        IndexRecord::Connection(conn) => {
            // ..
        }
        IndexRecord::ChunkInfo(chunk_info) => {
            // ..
        }
    }
}

Minimum Supported Rust Version

Rust 1.56 or higher.

Minimum supported Rust version can be changed in the future, but it will be done with a minor version bump.

License

The crate is licensed under either of

• Apache License, Version 2.0, (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
• MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)

at your option.

Contribution

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.