Rerun

Supported Message Formats

Rerun provides automatic visualization for common message types in MCAP files through different processing layers.

ROS2 message types ros2-message-types

The ros2msg layer provides automatic visualization for common ROS2 message types:

  • sensor_msgs
  • std_msgs
  • geometry_msgs
  • builtin_interfaces

We are continually adding support for more standard ROS2 message types. For the complete list of currently supported messages, see the ROS2 message parsers in our codebase.

Timelines timelines

In addition to the log_time and publish_time timestamps that are part of an MCAP message, some ROS message payloads can have an additional Header that may also contain timestamp information. These timestamps are put onto specific ros2_* timelines.

Timestamps within Unix time range (1990-2100) create a ros2_timestamp timeline. Values outside this range create a ros2_duration timeline representing relative time from custom epochs.

Limitations limitations

The following are known limitations and link to the corresponding GitHub issues.

ROS2 reflection ros2-reflection

The ros2_reflection layer automatically decodes ROS2 messages using runtime reflection for message types that are not supported by the semantic ros2msg layer. Fields become queryable components in the dataframe view and selection panel, but no automatic visualizations are created.

ROS1 message types ros1-message-types

ROS1 messages are not currently supported for semantic interpretation through any layer. The raw and schema layers are able to preserve the original bytes and structure of the messages.

Protobuf messages protobuf-messages

The protobuf layer automatically decodes protobuf-encoded messages using schema reflection. Fields become queryable components, but no automatic visualizations are created.

Adding support for new types adding-support-for-new-types

To request support for additional message types:

  • File a GitHub issue requesting the specific message type
  • Join the Rerun community on Discord to discuss and provide feedback on message support priorities. Or if you're open for a conversation, sign up here
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