rospeek

rospeek is a blazing-fast, cross-platform ROS 2 bag analyzer written in Rust.

Execution time [s] (log scale)
0.1      1       10      100
|--------|-------|-------|

rospeek info   |█                               | 0.79 s
ros2 bag info  |██████████████████████████████  | 29.1 s  (~36.9× slower)

Features

• Cross-platform -- Works on Linux, macOS, and Windows
• Format support -- ROS 2 .db3, .mcap

Quick Start

Build

git clone https://github.com/ktro2828/rosbag2peek.git
cd rosbag2peek
cargo build --release

Install CLI

cargo install --path crates/rospeek-cli

Then, you can refer to usage of CLI with rospeek -h.

1. Show Bag Information and List Topics

This command shows overviews of a bag file, similar to rosbag2 info:

rospeek info <BAG_FILE>

2. List Topic Messages

This command shows a list of serialized messages:

rospeek show <BAG_FILE> -t <TOPIC_NAME>

3. Decode Topic Messages and Dump into JSON/CSV

This command decodes topic messages and dumps them into JSON or CSV format.

rospeek dump <BAG_FILE> -t <TOPIC_NAME> [-f json|csv]

The output file is saved with the filename that separates the topic namespace by dots.

For example, the following command dumps /foo/bar into foo.bar.json:

rospeek dump <BAG_FILE> -t /foo/bar -f json

You can also dump messages between two timestamps:

rospeek dump <BAG_FILE> -t /foo/bar -f json --since 1640995200 --until 1640995260

4. Spawn GUI

This command spawns a GUI application for visualizing bag files:

rospeek app