⚠️ Moved to ros2/rosbag2 ⚠️

Development continues at https://github.com/ros2/rosbag2/tree/rolling/rosbag2_storage_mcap. Please do not open new issues on this repo - instead, report issues here.

rosbag2_storage_mcap

This package provides a storage plugin for rosbag2 which extends it with support for the MCAP file format.

Installation

rosbag2_storage_mcap is available as part of the current ROS 2 distributions. On Ubuntu, after following the ROS 2 installation instructions, you can use:

# Replace "humble" with your ROS distro (`echo $ROS_DISTRO`)
$ sudo apt install ros-humble-rosbag2-storage-mcap

Usage

Use MCAP files with regular ros2 bag commands by adding the --storage mcap option (abbreviated as -s mcap):

$ ros2 bag record -s mcap /topic1 /topic2 ...

$ ros2 bag play -s mcap path/to/your_recording.mcap

$ ros2 bag info -s mcap path/to/your_recording.mcap

Writer Configuration

To configure details of the MCAP writer for ros2 bag record, use the --storage-config-file options to provide a YAML file describing mcap::McapWriterOptions. Field descriptions below copied from McapWriterOptions declaration

Example:

# mcap_writer_options.yml
noChunkCRC: false
noChunking: false
noMessageIndex: false
noSummary: false
chunkSize: 786432
compression: "Zstd"
compressionLevel: "Fast"
forceCompression: false

$ ros2 bag record -s mcap -o my_bag --all --storage-config-file mcap_writer_options.yml

Storage Preset Profiles

You can also use one of the preset profiles described below, for example:

$ ros2 bag record -s mcap -o my_bag --all --storage-preset-profile fastwrite

fastwrite

Configures the MCAP writer for the highest possible write throughput and lowest resource utilization. This preset does not calculate CRCs for integrity checking, and does not write a message index. This preset profile is useful for resource-constrained robots.

Equivalent to this storage configuration:

noChunking: true
noSummaryCRC: true

Using MCAPs written with fastwrite as a long-term storage format is not recommended. Some features will not work when reading MCAP files without a message index, such as reading messages from a subset of topics or seeking. When recording MCAPs on your robot with fastwrite, it is a good idea to post-process these files afterwards, to restore the message index and also save storage space:

# Using the MCAP CLI https://github.com/foxglove/mcap/tree/main/go/cli/mcap
$ mcap compress fast.mcap -o compressed.mcap
# Using `ros2 bag convert`
$ cat << EOF > convert.yaml
output_bags:
  - uri: compressed
    storage_id: mcap
    storage_preset_profile: zstd_small
EOF
$ ros2 bag convert -i fast.mcap -o convert.yaml

Equivalent to this storage configuration:

noChunking: true
noSummaryCRC: true

zstd_fast

Configures the MCAP writer to use chunk compression with zstd. Chunk compression yields file sizes comparable to bags compressed with file-level compression, but allows tools to efficiently read messages without decompressing the entire bag. This preset uses the lowest compression ratio and disables CRC calculation, to achieve high throughput while conserving disk space.

Equivalent to this storage configuration:

compression: "Zstd"
compressionLevel: "Fastest"
noChunkCRC: true

zstd_small

Configures the MCAP writer to write 4MB chunks, compressed with zstd using its highest compression ratio. This produces very small bags, but can be resource-intensive to write. This preset also calculates chunk CRCs, which allow a reader to determine if a chunk is corrupted. This preset is useful when using ros2 bag convert as a post-processing step.

Equivalent to this storage configuration:

compression: "Zstd"
compressionLevel: "Slowest"
chunkSize: 4194304 # 4 * 1024 * 1024

Development

To build rosbag2_storage_mcap from source:

$ source /opt/ros/[distro]/setup.bash
$ git clone https://github.com/ros-tooling/rosbag2_storage_mcap.git
$ cd rosbag2_storage_mcap
$ colcon build

# In another shell:
$ source /opt/ros/[distro]/setup.bash
$ cd rosbag2_storage_mcap
$ source install/local_setup.bash
$ ros2 bag info -s mcap path/to/your_recording.mcap

ROS 2 Distro maintenance

Whenever a ROS 2 distribution reaches EOL, search for comments marked COMPATIBILITY - which may no longer be needed when no new releases will be made for that distro.