Robotic Tools

A collection of Python tools for working with robotics data, MCAP files, and ROS messages.

Packages

Digitalis

Terminal-based visualization tool for robotics development. Supports MCAP files and WebSocket streams.

uvx digitalis recording.mcap

pymcap-cli

A pure Python CLI for processing MCAP files with recovery, filtering, and compression.

uvx pymcap-cli info data.mcap

small-mcap

Lightweight Python library for reading and writing MCAP files. Zero dependencies, high performance.

uv add small-mcap

mcap-ros2-support-fast

High-performance pure Python ROS2 message serialization and deserialization. 30-60x faster than the reference implementation.

uv add mcap-ros2-support-fast

ros-parser

Parser for ROS1 and ROS2 message definitions and Foxglove message path syntax.

uv add ros-parser

websocket-bridge

Python library implementing the Foxglove WebSocket protocol for streaming robotics data.

uv add websocket-bridge

websocket-proxy

Proxy for Foxglove Bridge with just-in-time message conversion, image compression, and point cloud compression.

uvx --from websocket-proxy bridge ws://localhost:8765

License

These tools draw inspiration from the following projects (mostly MIT licensed):

• https://github.com/foxglove/mcap
• https://github.com/foxglove/ros-typescript