MCAP (pronounced "em-cap") is a modular container file format for heterogeneous timestamped data. It is ideal for robotics applications, as it can record multiple streams of structured and unstructured data (e.g. ROS, Protobuf, JSON Schema, MessagePack, etc.) in a single file.
MCAP works well under various workloads, resource constraints, and durability requirements.
Install the
mcap
CLI tool
to accomplish any of the following tasks and more:
stdout
.bag
or ROS 2 .db3
file into
an MCAP file
You can also use the MCAP libraries below to read and write your own MCAP files:
MCAP organizes its data via the following concepts:
FileDescriptorSet
or JSON Schema.
Check out the resources below to learn more about MCAP:
Join the Foxglove Slack community to ask questions and give feedback.