playback¶

Stream MCAP ROS2 bag files to a live-server.

Usage¶

vuer playback --mcap <file> [OPTIONS]

Description¶

Reads an MCAP file (ROS2 bag format) and streams the recorded data to a live-server via WebSocket for real-time visualization.

Arguments¶

Argument	Type	Required	Description
`--mcap`	string	Yes	Path to MCAP file

Options¶

Option	Type	Default	Description
`--ws`	string	`ws://localhost:8013`	WebSocket URL to stream to
`--speed`	float	`1.0`	Playback speed multiplier
`--loop`	bool	`False`	Loop playback continuously
`--topics`	string	`""`	Comma-separated topic filter
`--quiet`	bool	`False`	Suppress progress output

Examples¶

# Basic playback
vuer playback --mcap recording.mcap

# 2x speed with looping
vuer playback --mcap recording.mcap --speed 2.0 --loop

# Stream to remote server
vuer playback --mcap recording.mcap --ws wss://my-server.com:8013

# Filter specific topics
vuer playback --mcap recording.mcap --topics "/camera/image,/imu/data"

Supported Message Types¶

RGB images (sensor_msgs/msg/Image, CompressedImage)
Depth images (16UC1, 32FC1 encodings)
IMU data (sensor_msgs/msg/Imu)
Transforms (tf2_msgs/msg/TFMessage)
Odometry (nav_msgs/msg/Odometry)
Joint states (sensor_msgs/msg/JointState)
LiDAR point clouds

Dependencies¶

pip install 'vuer-ros[mcap]'
pip install websockets

API Reference¶