MCAP is a modular container file format for pub/sub messages with arbitrary message serialization. It is primarily intended for use in robotics applications, and works well under various workloads, resource constraints, and durability requirements.
FileDescriptorSet
or a JSON Schema.
Install the
mcap
CLI tool
by downloading the
latest mcap-cli
release binary
for your platform. You can now examine MCAP files, convert a
ROS 1 .bag
or
ROS 2 .db3
file into a MCAP file, and more:
mcap help # List supported commands
mcap info input.mcap # Display statistics about an MCAP file
mcap doctor input.mcap # Validate an MCAP file
mcap cat input.mcap # Dump messages to stdout
mcap convert input.bag output.mcap # Convert a ROS bag to MCAP
Learn more about MCAP:
MCAP libraries are available in several languages for you to read and write your own MCAP files: