From debb57b9c52e9e5689c17fa88951fbd116b8cb31 Mon Sep 17 00:00:00 2001
From: Lucas Walter <wsacul@gmail.com>
Date: Fri, 16 May 2025 16:05:55 -0700
Subject: [PATCH 01/11] making the extraction of tf_static happen separate from
 looping through channels, but it can still be very slow in large mcaps with a
 lot of tf_static messages (tartan drive 2.0 has this)- make it optional

---
 mcap_tools/src/lib.rs | 61 ++++++++++++++++++++++++-------------------
 1 file changed, 34 insertions(+), 27 deletions(-)

diff --git a/mcap_tools/src/lib.rs b/mcap_tools/src/lib.rs
index 7556834..1f722fe 100644
--- a/mcap_tools/src/lib.rs
+++ b/mcap_tools/src/lib.rs
@@ -84,7 +84,7 @@ pub async fn mcap_playback_init(
         msg_t1 - msg_t0
     );
 
-    let mut tf_static_aggregated = tf2_msgs::TFMessage::default();
+    let mut has_tf_static = false;
     let mut pubs = HashMap::new();
 
     for channel in summary.channels.values() {
@@ -104,32 +104,8 @@ pub async fn mcap_playback_init(
         // scan through them and only take the most recent, or build a hash map here
         if channel.topic == "/tf_static" {
             // && channel.schema.unwrap().name == "tf2_msgs/TFMessage" {
-            // TODO(lucasw) how to get through an mcap as quickly as possible to get a single
-            // topic?  The easiest thing would be to save tf_static to a separate mcap in the
-            // first place, more advanced would be for mcap_record to put all the statics
-            // in a separate chunk but then 'mcap convert' wouldn't do that.
-            for message in (mcap::MessageStream::new(mapped)?).flatten() {
-                if message.channel.topic != "/tf_static" {
-                    continue;
-                }
-                let msg_with_header = roslibrust_util::get_message_data_with_header(message.data);
-                match serde_rosmsg::from_slice::<tf2_msgs::TFMessage>(&msg_with_header) {
-                    Ok(tf_msg) => {
-                        log::info!(
-                            "{mcap_name} adding {} transforms to tf_static, total {}\r",
-                            tf_msg.transforms.len(),
-                            tf_msg.transforms.len() + tf_static_aggregated.transforms.len(),
-                        );
-                        for transform in tf_msg.transforms {
-                            tf_static_aggregated.transforms.push(transform);
-                        }
-                    }
-                    Err(err) => {
-                        log::error!("{mcap_name} {err:?}");
-                    }
-                }
-            }
-            continue;
+            has_tf_static = true;
+            log::info!("mcap has tf_static, going to aggregate");
         }
 
         if let Some(schema) = &channel.schema {
@@ -175,6 +151,37 @@ pub async fn mcap_playback_init(
         }
     } // loop through channels
 
+    let mut tf_static_aggregated = tf2_msgs::TFMessage::default();
+    // TODO(lucasw) make this optional
+    if has_tf_static {
+        log::info!("aggregating tf_static");
+        // TODO(lucasw) how to get through an mcap as quickly as possible to get a single
+        // topic?  The easiest thing would be to save tf_static to a separate mcap in the
+        // first place, more advanced would be for mcap_record to put all the statics
+        // in a separate chunk but then 'mcap convert' wouldn't do that.
+        for message in (mcap::MessageStream::new(mapped)?).flatten() {
+            if message.channel.topic != "/tf_static" {
+                continue;
+            }
+            let msg_with_header = roslibrust_util::get_message_data_with_header(message.data);
+            match serde_rosmsg::from_slice::<tf2_msgs::TFMessage>(&msg_with_header) {
+                Ok(tf_msg) => {
+                    log::info!(
+                        "{mcap_name} adding {} transforms to tf_static, total {}\r",
+                        tf_msg.transforms.len(),
+                        tf_msg.transforms.len() + tf_static_aggregated.transforms.len(),
+                    );
+                    for transform in tf_msg.transforms {
+                        tf_static_aggregated.transforms.push(transform);
+                    }
+                }
+                Err(err) => {
+                    log::error!("{mcap_name} {err:?}");
+                }
+            }
+        }
+    }
+
     Ok((pubs, tf_static_aggregated, msg_t0, msg_t1))
 }
 

From 466708a170784db1ec921dd345307b8f101d5ab0 Mon Sep 17 00:00:00 2001
From: Lucas Walter <wsacul@gmail.com>
Date: Fri, 16 May 2025 16:18:47 -0700
Subject: [PATCH 02/11] optionally don't aggregate tf static on mcap playback

---
 mcap_tools/src/lib.rs       |  3 ++-
 mcap_tools/src/mcap_play.rs | 23 +++++++++++++++++++++--
 2 files changed, 23 insertions(+), 3 deletions(-)

diff --git a/mcap_tools/src/lib.rs b/mcap_tools/src/lib.rs
index 1f722fe..bd50e53 100644
--- a/mcap_tools/src/lib.rs
+++ b/mcap_tools/src/lib.rs
@@ -59,6 +59,7 @@ fn use_topic(topic: &str, include_re: &Option<Regex>, exclude_re: &Option<Regex>
 pub async fn mcap_playback_init(
     nh: &roslibrust::ros1::NodeHandle,
     mcap_name: &str,
+    aggregate_tf_static: bool,
     mapped: &Mmap,
     include_re: &Option<Regex>,
     exclude_re: &Option<Regex>,
@@ -153,7 +154,7 @@ pub async fn mcap_playback_init(
 
     let mut tf_static_aggregated = tf2_msgs::TFMessage::default();
     // TODO(lucasw) make this optional
-    if has_tf_static {
+    if aggregate_tf_static && has_tf_static {
         log::info!("aggregating tf_static");
         // TODO(lucasw) how to get through an mcap as quickly as possible to get a single
         // topic?  The easiest thing would be to save tf_static to a separate mcap in the
diff --git a/mcap_tools/src/mcap_play.rs b/mcap_tools/src/mcap_play.rs
index 51c14e4..ac2ac7d 100644
--- a/mcap_tools/src/mcap_play.rs
+++ b/mcap_tools/src/mcap_play.rs
@@ -36,6 +36,7 @@ fn get_wall_time() -> f64 {
 type PlayArgs = (
     Option<u64>,
     bool,
+    bool,
     (Option<Regex>, Option<Regex>),
     f64,
     Vec<String>,
@@ -57,6 +58,13 @@ fn get_non_ros_cli_args(unused_args: Vec<String>) -> Result<PlayArgs, anyhow::Er
             .action(clap::ArgAction::SetTrue)
             .required(false)
         )
+        .arg(
+            arg!(
+                -tf --no_tf_static <TFSTATIC> "aggregate tf static messages for republishing in single message"
+            )
+            .action(clap::ArgAction::SetTrue)
+            .required(false)
+        )
         .arg(
             arg!(
                 -e --regex <REGEX> "match topics using regular expressions"
@@ -93,6 +101,9 @@ fn get_non_ros_cli_args(unused_args: Vec<String>) -> Result<PlayArgs, anyhow::Er
     let publish_clock = matches.get_one::<bool>("clock").copied().unwrap();
     log::info!("publishing clock");
 
+    let aggregate_tf_static = !matches.get_one::<bool>("no_tf_static").copied().unwrap();
+    log::info!("aggregating tf_static: {aggregate_tf_static}");
+
     let include_re;
     if let Some(regex_str) = matches.get_one::<String>("regex") {
         include_re = Some(Regex::new(regex_str)?);
@@ -120,6 +131,7 @@ fn get_non_ros_cli_args(unused_args: Vec<String>) -> Result<PlayArgs, anyhow::Er
     Ok((
         max_loops,
         publish_clock,
+        aggregate_tf_static,
         (include_re, exclude_re),
         start_secs_offset,
         mcap_names,
@@ -222,8 +234,14 @@ async fn main() -> Result<(), anyhow::Error> {
     let master_uri =
         std::env::var("ROS_MASTER_URI").unwrap_or("http://localhost:11311".to_string());
 
-    let (max_loops, publish_clock, (include_re, exclude_re), start_secs_offset, mcap_names) =
-        get_non_ros_cli_args(unused_args)?;
+    let (
+        max_loops,
+        publish_clock,
+        aggregate_tf_static,
+        (include_re, exclude_re),
+        start_secs_offset,
+        mcap_names,
+    ) = get_non_ros_cli_args(unused_args)?;
 
     // TODO(lucasw) if nh is shut down too abruptly by going out of scope it won't unregister all the publishers-
     // that needs to happen in the node handle drop just like with subscribers,
@@ -255,6 +273,7 @@ async fn main() -> Result<(), anyhow::Error> {
                 let rv = mcap_tools::mcap_playback_init(
                     &nh,
                     mcap_name,
+                    aggregate_tf_static,
                     &mapped,
                     &include_re,
                     &exclude_re,

From 4997f8ab8c07427dabd4052d91a92df03a36731c Mon Sep 17 00:00:00 2001
From: Lucas Walter <wsacul@gmail.com>
Date: Fri, 16 May 2025 16:24:37 -0700
Subject: [PATCH 03/11] following example for getting message out of message
 stream

---
 mcap_tools/src/lib.rs | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/mcap_tools/src/lib.rs b/mcap_tools/src/lib.rs
index bd50e53..af47172 100644
--- a/mcap_tools/src/lib.rs
+++ b/mcap_tools/src/lib.rs
@@ -160,7 +160,9 @@ pub async fn mcap_playback_init(
         // topic?  The easiest thing would be to save tf_static to a separate mcap in the
         // first place, more advanced would be for mcap_record to put all the statics
         // in a separate chunk but then 'mcap convert' wouldn't do that.
-        for message in (mcap::MessageStream::new(mapped)?).flatten() {
+        // for message in (mcap::MessageStream::new(mapped)?).flatten() {
+        for message in mcap::MessageStream::new(mapped)? {
+            let message = message?;
             if message.channel.topic != "/tf_static" {
                 continue;
             }

From f34f58454e37bba73a83aee7f7b96117c43fffdf Mon Sep 17 00:00:00 2001
From: Lucas Walter <wsacul@gmail.com>
Date: Sun, 1 Jun 2025 10:10:47 -0700
Subject: [PATCH 04/11] mcap_view shows every decodeable image in an mcap in a
 per-topic minifb window, needs to support non-compressed next (and need a
 tool to convert every Image in an mcap to CompressedImage)

---
 Cargo.lock                     | 455 ++++++++++++++++++++++++++++++++-
 Cargo.toml                     |   2 +-
 mcap_view/Cargo.toml           |  18 ++
 mcap_view/src/bin/mcap_view.rs | 132 ++++++++++
 4 files changed, 602 insertions(+), 5 deletions(-)
 create mode 100644 mcap_view/Cargo.toml
 create mode 100644 mcap_view/src/bin/mcap_view.rs

diff --git a/Cargo.lock b/Cargo.lock
index 90a5834..aa4ceb8 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -257,6 +257,26 @@ dependencies = [
  "windows-link",
 ]
 
+[[package]]
+name = "clang"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "84c044c781163c001b913cd018fc95a628c50d0d2dfea8bca77dad71edb16e37"
+dependencies = [
+ "clang-sys",
+ "libc",
+]
+
+[[package]]
+name = "clang-sys"
+version = "1.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0b023947811758c97c59bf9d1c188fd619ad4718dcaa767947df1cadb14f39f4"
+dependencies = [
+ "glob",
+ "libc",
+]
+
 [[package]]
 name = "clap"
 version = "4.5.37"
@@ -300,6 +320,16 @@ dependencies = [
  "windows-sys 0.59.0",
 ]
 
+[[package]]
+name = "console_error_panic_hook"
+version = "0.1.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a06aeb73f470f66dcdbf7223caeebb85984942f22f1adb2a088cf9668146bbbc"
+dependencies = [
+ "cfg-if",
+ "wasm-bindgen",
+]
+
 [[package]]
 name = "core-foundation"
 version = "0.9.4"
@@ -405,6 +435,27 @@ dependencies = [
  "syn 2.0.100",
 ]
 
+[[package]]
+name = "dlib"
+version = "0.5.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "330c60081dcc4c72131f8eb70510f1ac07223e5d4163db481a04a0befcffa412"
+dependencies = [
+ "libloading",
+]
+
+[[package]]
+name = "downcast-rs"
+version = "1.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "75b325c5dbd37f80359721ad39aca5a29fb04c89279657cffdda8736d0c0b9d2"
+
+[[package]]
+name = "dunce"
+version = "1.0.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "92773504d58c093f6de2459af4af33faa518c13451eb8f2b5698ed3d36e7c813"
+
 [[package]]
 name = "either"
 version = "1.15.0"
@@ -656,6 +707,12 @@ version = "0.31.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "07e28edb80900c19c28f1072f2e8aeca7fa06b23cd4169cefe1af5aa3260783f"
 
+[[package]]
+name = "glob"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a8d1add55171497b4705a648c6b583acafb01d58050a51727785f0b2c8e0a2b2"
+
 [[package]]
 name = "h2"
 version = "0.3.26"
@@ -770,7 +827,7 @@ dependencies = [
  "js-sys",
  "log",
  "wasm-bindgen",
- "windows-core",
+ "windows-core 0.61.0",
 ]
 
 [[package]]
@@ -937,6 +994,18 @@ dependencies = [
  "hashbrown",
 ]
 
+[[package]]
+name = "instant"
+version = "0.1.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e0242819d153cba4b4b05a5a8f2a7e9bbf97b6055b2a002b395c96b5ff3c0222"
+dependencies = [
+ "cfg-if",
+ "js-sys",
+ "wasm-bindgen",
+ "web-sys",
+]
+
 [[package]]
 name = "ipnet"
 version = "2.11.0"
@@ -996,6 +1065,27 @@ version = "0.2.172"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d750af042f7ef4f724306de029d18836c26c1765a54a6a3f094cbd23a7267ffa"
 
+[[package]]
+name = "libloading"
+version = "0.8.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "07033963ba89ebaf1584d767badaa2e8fcec21aedea6b8c0346d487d49c28667"
+dependencies = [
+ "cfg-if",
+ "windows-targets 0.52.6",
+]
+
+[[package]]
+name = "libredox"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c0ff37bd590ca25063e35af745c343cb7a0271906fb7b37e4813e8f79f00268d"
+dependencies = [
+ "bitflags 2.9.0",
+ "libc",
+ "redox_syscall",
+]
+
 [[package]]
 name = "linux-raw-sys"
 version = "0.4.15"
@@ -1158,6 +1248,20 @@ dependencies = [
  "tracing-subscriber",
 ]
 
+[[package]]
+name = "mcap_view"
+version = "0.5.0"
+dependencies = [
+ "anyhow",
+ "log",
+ "mcap",
+ "minifb",
+ "opencv",
+ "roslibrust_util",
+ "serde_rosmsg",
+ "simple_logger",
+]
+
 [[package]]
 name = "md5"
 version = "0.7.0"
@@ -1180,12 +1284,50 @@ dependencies = [
  "winapi",
 ]
 
+[[package]]
+name = "memoffset"
+version = "0.6.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5aa361d4faea93603064a027415f07bd8e1d5c88c9fbf68bf56a285428fd79ce"
+dependencies = [
+ "autocfg",
+]
+
 [[package]]
 name = "mime"
 version = "0.3.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6877bb514081ee2a7ff5ef9de3281f14a4dd4bceac4c09388074a6b5df8a139a"
 
+[[package]]
+name = "minifb"
+version = "0.28.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d1a093126f2ed9012fc0b146934c97eb0273e54983680a8bf5309b6b4a365b32"
+dependencies = [
+ "cc",
+ "console_error_panic_hook",
+ "dlib",
+ "futures",
+ "instant",
+ "js-sys",
+ "lazy_static",
+ "libc",
+ "orbclient",
+ "raw-window-handle",
+ "serde",
+ "serde_derive",
+ "tempfile",
+ "wasm-bindgen",
+ "wasm-bindgen-futures",
+ "wayland-client",
+ "wayland-cursor",
+ "wayland-protocols",
+ "web-sys",
+ "winapi",
+ "x11-dl",
+]
+
 [[package]]
 name = "miniz_oxide"
 version = "0.8.8"
@@ -1278,6 +1420,18 @@ dependencies = [
  "tempfile",
 ]
 
+[[package]]
+name = "nix"
+version = "0.24.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fa52e972a9a719cecb6864fb88568781eb706bac2cd1d4f04a648542dbf78069"
+dependencies = [
+ "bitflags 1.3.2",
+ "cfg-if",
+ "libc",
+ "memoffset",
+]
+
 [[package]]
 name = "nom"
 version = "8.0.0"
@@ -1385,6 +1539,41 @@ version = "1.21.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "42f5e15c9953c5e4ccceeb2e7382a716482c34515315f7b03532b8b4e8393d2d"
 
+[[package]]
+name = "opencv"
+version = "0.94.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5455825692ae28d834bd364ba670bd3a33c81f50d451bc69c7eaa4b44ff519f5"
+dependencies = [
+ "cc",
+ "dunce",
+ "jobserver",
+ "libc",
+ "num-traits",
+ "once_cell",
+ "opencv-binding-generator",
+ "pkg-config",
+ "semver",
+ "shlex",
+ "vcpkg",
+ "windows",
+]
+
+[[package]]
+name = "opencv-binding-generator"
+version = "0.96.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cf506b4181ff450774022aac5fca42043379229811396045838c9d9c0540b9bd"
+dependencies = [
+ "clang",
+ "clang-sys",
+ "dunce",
+ "once_cell",
+ "percent-encoding",
+ "regex",
+ "shlex",
+]
+
 [[package]]
 name = "openssl"
 version = "0.10.72"
@@ -1429,6 +1618,18 @@ dependencies = [
  "vcpkg",
 ]
 
+[[package]]
+name = "orbclient"
+version = "0.3.48"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ba0b26cec2e24f08ed8bb31519a9333140a6599b867dac464bb150bdb796fd43"
+dependencies = [
+ "libc",
+ "libredox",
+ "sdl2",
+ "sdl2-sys",
+]
+
 [[package]]
 name = "overload"
 version = "0.1.1"
@@ -1533,6 +1734,12 @@ version = "5.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "74765f6d916ee2faa39bc8e68e4f3ed8949b48cccdac59983d287a7cb71ce9c5"
 
+[[package]]
+name = "raw-window-handle"
+version = "0.6.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "20675572f6f24e9e76ef639bc5552774ed45f1c30e2951e1e99c59888861c539"
+
 [[package]]
 name = "rawpointer"
 version = "0.2.1"
@@ -1823,12 +2030,41 @@ dependencies = [
  "windows-sys 0.59.0",
 ]
 
+[[package]]
+name = "scoped-tls"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e1cf6437eb19a8f4a6cc0f7dca544973b0b78843adbfeb3683d1a94a0024a294"
+
 [[package]]
 name = "scopeguard"
 version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
 
+[[package]]
+name = "sdl2"
+version = "0.35.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f7959277b623f1fb9e04aea73686c3ca52f01b2145f8ea16f4ff30d8b7623b1a"
+dependencies = [
+ "bitflags 1.3.2",
+ "lazy_static",
+ "libc",
+ "sdl2-sys",
+]
+
+[[package]]
+name = "sdl2-sys"
+version = "0.35.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e3586be2cf6c0a8099a79a12b4084357aa9b3e0b0d7980e3b67aaf7a9d55f9f0"
+dependencies = [
+ "cfg-if",
+ "libc",
+ "version-compare",
+]
+
 [[package]]
 name = "security-framework"
 version = "2.11.1"
@@ -1852,6 +2088,12 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "semver"
+version = "1.0.26"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "56e6fa9c48d24d85fb3de5ad847117517440f6beceb7798af16b4a87d616b8d0"
+
 [[package]]
 name = "serde"
 version = "1.0.219"
@@ -2524,6 +2766,12 @@ version = "0.2.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "accd4ea62f7bb7a82fe23066fb0957d48ef677f6eeb8215f372f52e48bb32426"
 
+[[package]]
+name = "version-compare"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "579a42fc0b8e0c63b76519a339be31bed574929511fa53c1a3acae26eb258f29"
+
 [[package]]
 name = "version_check"
 version = "0.9.5"
@@ -2573,6 +2821,8 @@ dependencies = [
  "cfg-if",
  "once_cell",
  "rustversion",
+ "serde",
+ "serde_json",
  "wasm-bindgen-macro",
 ]
 
@@ -2635,6 +2885,79 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "wayland-client"
+version = "0.29.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3f3b068c05a039c9f755f881dc50f01732214f5685e379829759088967c46715"
+dependencies = [
+ "bitflags 1.3.2",
+ "downcast-rs",
+ "libc",
+ "nix",
+ "scoped-tls",
+ "wayland-commons",
+ "wayland-scanner",
+ "wayland-sys",
+]
+
+[[package]]
+name = "wayland-commons"
+version = "0.29.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8691f134d584a33a6606d9d717b95c4fa20065605f798a3f350d78dced02a902"
+dependencies = [
+ "nix",
+ "once_cell",
+ "smallvec",
+ "wayland-sys",
+]
+
+[[package]]
+name = "wayland-cursor"
+version = "0.29.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6865c6b66f13d6257bef1cd40cbfe8ef2f150fb8ebbdb1e8e873455931377661"
+dependencies = [
+ "nix",
+ "wayland-client",
+ "xcursor",
+]
+
+[[package]]
+name = "wayland-protocols"
+version = "0.29.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b950621f9354b322ee817a23474e479b34be96c2e909c14f7bc0100e9a970bc6"
+dependencies = [
+ "bitflags 1.3.2",
+ "wayland-client",
+ "wayland-commons",
+ "wayland-scanner",
+]
+
+[[package]]
+name = "wayland-scanner"
+version = "0.29.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f4303d8fa22ab852f789e75a967f0a2cdc430a607751c0499bada3e451cbd53"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "xml-rs",
+]
+
+[[package]]
+name = "wayland-sys"
+version = "0.29.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "be12ce1a3c39ec7dba25594b97b42cb3195d54953ddb9d3d95a7c3902bc6e9d4"
+dependencies = [
+ "dlib",
+ "lazy_static",
+ "pkg-config",
+]
+
 [[package]]
 name = "web-sys"
 version = "0.3.77"
@@ -2686,17 +3009,51 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
 
+[[package]]
+name = "windows"
+version = "0.59.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7f919aee0a93304be7f62e8e5027811bbba96bcb1de84d6618be56e43f8a32a1"
+dependencies = [
+ "windows-core 0.59.0",
+ "windows-targets 0.53.0",
+]
+
+[[package]]
+name = "windows-core"
+version = "0.59.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "810ce18ed2112484b0d4e15d022e5f598113e220c53e373fb31e67e21670c1ce"
+dependencies = [
+ "windows-implement 0.59.0",
+ "windows-interface",
+ "windows-result",
+ "windows-strings 0.3.1",
+ "windows-targets 0.53.0",
+]
+
 [[package]]
 name = "windows-core"
 version = "0.61.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4763c1de310c86d75a878046489e2e5ba02c649d185f21c67d4cf8a56d098980"
 dependencies = [
- "windows-implement",
+ "windows-implement 0.60.0",
  "windows-interface",
  "windows-link",
  "windows-result",
- "windows-strings",
+ "windows-strings 0.4.0",
+]
+
+[[package]]
+name = "windows-implement"
+version = "0.59.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "83577b051e2f49a058c308f17f273b570a6a758386fc291b5f6a934dd84e48c1"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.100",
 ]
 
 [[package]]
@@ -2736,6 +3093,15 @@ dependencies = [
  "windows-link",
 ]
 
+[[package]]
+name = "windows-strings"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "87fa48cc5d406560701792be122a10132491cff9d0aeb23583cc2dcafc847319"
+dependencies = [
+ "windows-link",
+]
+
 [[package]]
 name = "windows-strings"
 version = "0.4.0"
@@ -2796,13 +3162,29 @@ dependencies = [
  "windows_aarch64_gnullvm 0.52.6",
  "windows_aarch64_msvc 0.52.6",
  "windows_i686_gnu 0.52.6",
- "windows_i686_gnullvm",
+ "windows_i686_gnullvm 0.52.6",
  "windows_i686_msvc 0.52.6",
  "windows_x86_64_gnu 0.52.6",
  "windows_x86_64_gnullvm 0.52.6",
  "windows_x86_64_msvc 0.52.6",
 ]
 
+[[package]]
+name = "windows-targets"
+version = "0.53.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b1e4c7e8ceaaf9cb7d7507c974735728ab453b67ef8f18febdd7c11fe59dca8b"
+dependencies = [
+ "windows_aarch64_gnullvm 0.53.0",
+ "windows_aarch64_msvc 0.53.0",
+ "windows_i686_gnu 0.53.0",
+ "windows_i686_gnullvm 0.53.0",
+ "windows_i686_msvc 0.53.0",
+ "windows_x86_64_gnu 0.53.0",
+ "windows_x86_64_gnullvm 0.53.0",
+ "windows_x86_64_msvc 0.53.0",
+]
+
 [[package]]
 name = "windows_aarch64_gnullvm"
 version = "0.48.5"
@@ -2815,6 +3197,12 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
 
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.53.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "86b8d5f90ddd19cb4a147a5fa63ca848db3df085e25fee3cc10b39b6eebae764"
+
 [[package]]
 name = "windows_aarch64_msvc"
 version = "0.48.5"
@@ -2827,6 +3215,12 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
 
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.53.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c7651a1f62a11b8cbd5e0d42526e55f2c99886c77e007179efff86c2b137e66c"
+
 [[package]]
 name = "windows_i686_gnu"
 version = "0.48.5"
@@ -2839,12 +3233,24 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8e9b5ad5ab802e97eb8e295ac6720e509ee4c243f69d781394014ebfe8bbfa0b"
 
+[[package]]
+name = "windows_i686_gnu"
+version = "0.53.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c1dc67659d35f387f5f6c479dc4e28f1d4bb90ddd1a5d3da2e5d97b42d6272c3"
+
 [[package]]
 name = "windows_i686_gnullvm"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
 
+[[package]]
+name = "windows_i686_gnullvm"
+version = "0.53.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9ce6ccbdedbf6d6354471319e781c0dfef054c81fbc7cf83f338a4296c0cae11"
+
 [[package]]
 name = "windows_i686_msvc"
 version = "0.48.5"
@@ -2857,6 +3263,12 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
 
+[[package]]
+name = "windows_i686_msvc"
+version = "0.53.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "581fee95406bb13382d2f65cd4a908ca7b1e4c2f1917f143ba16efe98a589b5d"
+
 [[package]]
 name = "windows_x86_64_gnu"
 version = "0.48.5"
@@ -2869,6 +3281,12 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
 
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.53.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2e55b5ac9ea33f2fc1716d1742db15574fd6fc8dadc51caab1c16a3d3b4190ba"
+
 [[package]]
 name = "windows_x86_64_gnullvm"
 version = "0.48.5"
@@ -2881,6 +3299,12 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
 
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.53.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0a6e035dd0599267ce1ee132e51c27dd29437f63325753051e71dd9e42406c57"
+
 [[package]]
 name = "windows_x86_64_msvc"
 version = "0.48.5"
@@ -2893,6 +3317,12 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
 
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.53.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "271414315aff87387382ec3d271b52d7ae78726f5d44ac98b4f4030c91880486"
+
 [[package]]
 name = "winnow"
 version = "0.7.6"
@@ -2933,6 +3363,23 @@ version = "0.5.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1e9df38ee2d2c3c5948ea468a8406ff0db0b29ae1ffde1bcf20ef305bcc95c51"
 
+[[package]]
+name = "x11-dl"
+version = "2.21.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38735924fedd5314a6e548792904ed8c6de6636285cb9fec04d5b1db85c1516f"
+dependencies = [
+ "libc",
+ "once_cell",
+ "pkg-config",
+]
+
+[[package]]
+name = "xcursor"
+version = "0.3.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ef33da6b1660b4ddbfb3aef0ade110c8b8a781a3b6382fa5f2b5b040fd55f61"
+
 [[package]]
 name = "xml-rs"
 version = "0.8.26"
diff --git a/Cargo.toml b/Cargo.toml
index 79beddc..41c474d 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -2,7 +2,7 @@
 resolver = "2"
 members = [
     "mcap_test_utils",
-    "mcap_tools",
+    "mcap_tools", "mcap_view",
 ]
 
 [workspace.package]
diff --git a/mcap_view/Cargo.toml b/mcap_view/Cargo.toml
new file mode 100644
index 0000000..405f15b
--- /dev/null
+++ b/mcap_view/Cargo.toml
@@ -0,0 +1,18 @@
+[package]
+name = "mcap_view"
+version.workspace = true
+edition.workspace = true
+
+[dependencies]
+anyhow.workspace = true
+log.workspace = true
+mcap.workspace = true
+minifb = "0.28.0"
+opencv = "0.94.4"
+roslibrust_util.workspace = true
+serde_rosmsg.workspace = true
+simple_logger.workspace = true
+
+[[bin]]
+name = "mcap_view"
+path = "src/bin/mcap_view.rs"
diff --git a/mcap_view/src/bin/mcap_view.rs b/mcap_view/src/bin/mcap_view.rs
new file mode 100644
index 0000000..0595509
--- /dev/null
+++ b/mcap_view/src/bin/mcap_view.rs
@@ -0,0 +1,132 @@
+/*!
+Lucas Walter
+
+Visualize Image topic/s within an mcap file in a minifb window
+*/
+
+use anyhow::Result;
+// use image::ImageReader;
+// use image::EncodableLayout;
+use minifb::{Scale, ScaleMode, Window, WindowOptions};
+use opencv::core::Mat;
+use opencv::prelude::{MatTraitConst, MatTraitConstManual};
+use roslibrust_util::sensor_msgs::CompressedImage;
+use simple_logger::SimpleLogger;
+use std::collections::HashMap;
+use std::env;
+// use std::io::Cursor;
+
+// image crate return rgb, but want bgr
+/*
+fn compressed_image_to_rgb8(data: &[u8]) -> Result<(Vec<u8>, usize, usize)> {
+    let reader = ImageReader::new(Cursor::new(data))
+        .with_guessed_format()
+        .expect("Cursor io never fails");
+
+    let img = reader.decode()?;
+
+    let rgb8 = &img.to_rgba8();
+
+    let width = usize::try_from(rgb8.width())?;
+    let height = usize::try_from(rgb8.height())?;
+
+    Ok((rgb8.as_bytes().to_vec(), width, height))
+}
+*/
+
+fn compressed_image_to_bgr8(data: &[u8]) -> Result<(Vec<u8>, usize, usize)> {
+    let buf = Mat::from_slice::<u8>(data)?;
+    let cv_image_orig = opencv::imgcodecs::imdecode(
+        &buf,
+        // opencv::imgcodecs::ImreadModes::IMREAD_COLOR_BGR as i32,
+        opencv::imgcodecs::ImreadModes::IMREAD_COLOR as i32,
+    )?;
+    let mut cv_image = Mat::default();
+    opencv::imgproc::cvt_color(
+        &cv_image_orig,
+        &mut cv_image,
+        opencv::imgproc::ColorConversionCodes::COLOR_BGR2BGRA as i32,
+        4,
+    )?;
+    let size = cv_image.size()?;
+    let width = size.width as usize;
+    let height = size.height as usize;
+
+    Ok((cv_image.data_bytes()?.to_vec(), width, height))
+}
+
+fn main() -> Result<()> {
+    SimpleLogger::new()
+        .with_level(log::LevelFilter::Info)
+        .init()?;
+
+    let args: Vec<String> = env::args().collect();
+    let mcap_name = &args[1];
+    log::info!("viewing image from '{mcap_name}'");
+    let mapped_mcap = roslibrust_util::map_mcap(mcap_name)?;
+
+    let mut viewers_by_topic: HashMap<String, (Window, usize, usize)> = HashMap::new();
+
+    log::info!("iterating through messages");
+    for message in mcap::MessageStream::new(&mapped_mcap)? {
+        let message = message?;
+        // let schema = message.channel.schema.ok_or(anyhow::anyhow!("bad schema"))?.clone(); //.as_ref();
+        let schema_name = &message
+            .channel
+            .schema
+            .clone()
+            .ok_or(anyhow::anyhow!("bad schema"))?
+            .name;
+        if schema_name.ne("sensor_msgs/CompressedImage") {
+            continue;
+        }
+        let topic = &message.channel.topic;
+
+        let msg_with_header = roslibrust_util::get_message_data_with_header(message.data);
+        let msg = serde_rosmsg::from_slice::<CompressedImage>(&msg_with_header).unwrap();
+        let (rgb8, width, height) = compressed_image_to_bgr8(&msg.data)?;
+
+        let (window, width0, height0) =
+            viewers_by_topic.entry(topic.clone()).or_insert_with(|| {
+                log::info!(
+                    "visualizing {topic} {width}x{height} ({} bytes)",
+                    rgb8.len()
+                );
+                let window = Window::new(
+                    topic,
+                    width,
+                    height,
+                    WindowOptions {
+                        resize: true,
+                        scale: Scale::X1,
+                        scale_mode: ScaleMode::AspectRatioStretch,
+                        ..WindowOptions::default()
+                    },
+                )
+                .unwrap();
+                (window, width, height)
+            });
+        if width != *width0 || height != *height0 {
+            log::warn!("inconsistent image size topic width {width} was {width0}, height {height} was {height0}");
+            // continue;
+        }
+
+        let rgba32 = {
+            // TODO(lucasw) safe way to do this?
+            unsafe {
+                let (prefix, rgba32, suffix) = rgb8.align_to::<u32>();
+                if !prefix.is_empty() || !prefix.is_empty() {
+                    log::warn!(
+                        "{} u8 -> {prefix:?} {} {suffix:?}",
+                        rgb8.len(),
+                        rgba32.len()
+                    );
+                }
+                rgba32
+            }
+        };
+        window.update_with_buffer(rgba32, width, height)?;
+    }
+
+    Ok(())
+}

From 80e86f9c7a6d261ac13e2ded301c741f08618883 Mon Sep 17 00:00:00 2001
From: Lucas Walter <wsacul@gmail.com>
Date: Sun, 1 Jun 2025 10:56:50 -0700
Subject: [PATCH 05/11] utility to convert an mcap of Image to CompressedImage

---
 Cargo.lock                               |   2 +
 mcap_tools/src/lib.rs                    |  27 +++-
 mcap_view/Cargo.toml                     |   6 +
 mcap_view/src/bin/image_to_compressed.rs | 162 +++++++++++++++++++++++
 4 files changed, 196 insertions(+), 1 deletion(-)
 create mode 100644 mcap_view/src/bin/image_to_compressed.rs

diff --git a/Cargo.lock b/Cargo.lock
index aa4ceb8..f55ddd6 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1255,8 +1255,10 @@ dependencies = [
  "anyhow",
  "log",
  "mcap",
+ "mcap_tools",
  "minifb",
  "opencv",
+ "roslibrust",
  "roslibrust_util",
  "serde_rosmsg",
  "simple_logger",
diff --git a/mcap_tools/src/lib.rs b/mcap_tools/src/lib.rs
index af47172..3a70296 100644
--- a/mcap_tools/src/lib.rs
+++ b/mcap_tools/src/lib.rs
@@ -1,10 +1,35 @@
 use memmap::Mmap;
 use regex::Regex;
 use roslibrust::ros1::PublisherAny;
-use roslibrust_util::tf2_msgs;
+use roslibrust::RosMessageType;
+use roslibrust_util::{std_msgs::Header, tf2_msgs};
 use std::collections::HashMap;
+use std::fs::File;
+use std::io::BufWriter;
 use tokio::sync::broadcast;
 
+pub fn mcap_write<T: RosMessageType>(
+    mcap_out: &mut mcap::Writer<BufWriter<File>>,
+    msg: &T,
+    header: Header,
+    channel_id: u16,
+) -> Result<(), mcap::McapError> {
+    let sequence = 0;
+    let data = serde_rosmsg::to_vec(&msg).unwrap();
+    let log_time = tf_roslibrust::tf_util::stamp_to_duration(&header.stamp)
+        .num_nanoseconds()
+        .unwrap() as u64;
+    mcap_out.write_to_known_channel(
+        &mcap::records::MessageHeader {
+            channel_id,
+            sequence,
+            log_time,
+            publish_time: log_time,
+        },
+        &data[4..], // chop off header bytes
+    )
+}
+
 // duplicated in tf_roslibrust, use that one instead of this
 pub fn get_sorted_indices<T: PartialOrd>(list: &[T]) -> Vec<usize> {
     let mut indices = (0..list.len()).collect::<Vec<_>>();
diff --git a/mcap_view/Cargo.toml b/mcap_view/Cargo.toml
index 405f15b..d777919 100644
--- a/mcap_view/Cargo.toml
+++ b/mcap_view/Cargo.toml
@@ -7,8 +7,10 @@ edition.workspace = true
 anyhow.workspace = true
 log.workspace = true
 mcap.workspace = true
+mcap_tools = { version = "0.5.0", path = "../mcap_tools" }
 minifb = "0.28.0"
 opencv = "0.94.4"
+roslibrust.workspace = true
 roslibrust_util.workspace = true
 serde_rosmsg.workspace = true
 simple_logger.workspace = true
@@ -16,3 +18,7 @@ simple_logger.workspace = true
 [[bin]]
 name = "mcap_view"
 path = "src/bin/mcap_view.rs"
+
+[[bin]]
+name = "mcap_image_to_compressed"
+path = "src/bin/image_to_compressed.rs"
diff --git a/mcap_view/src/bin/image_to_compressed.rs b/mcap_view/src/bin/image_to_compressed.rs
new file mode 100644
index 0000000..6d104ad
--- /dev/null
+++ b/mcap_view/src/bin/image_to_compressed.rs
@@ -0,0 +1,162 @@
+/*!
+Lucas Walter
+
+adapted from mcap-videoify
+*/
+use anyhow::Result;
+// use camino::Utf8Path;
+// use image::ImageReader;
+// use minimp4::Mp4Muxer;
+use opencv::core::{Mat, Vector};
+use opencv::prelude::{MatTraitConst, VectorToVec};
+// use openh264::encoder::{Encoder, EncoderConfig};
+// use openh264::formats::YUVBuffer;
+use roslibrust::RosMessageType;
+use roslibrust_util::sensor_msgs::{CompressedImage, Image};
+use std::collections::{BTreeMap, HashMap};
+use std::fs::File;
+use std::io::BufWriter;
+
+fn main() -> Result<()> {
+    let args: Vec<String> = std::env::args().collect();
+    let input_mcap_name = &args[1];
+    let mapped = roslibrust_util::map_mcap(input_mcap_name)?;
+
+    //let mut encoders_by_topic: HashMap<String, Encoder> = HashMap::new();
+
+    // Map of topic -> channel for the topic
+    let mut topic_channel_ids: HashMap<String, u16> = HashMap::new();
+
+    // TODO(lucasw) disable zstd compression, it isn't going to do anything
+    let mut video_mcap = mcap::Writer::new(BufWriter::new(
+        File::create("compressed_image.mcap").unwrap(),
+    ))
+    .unwrap();
+
+    // TODO(lucasw) make writing to these optional
+    // these files can be played with mplayer or vlc but don't have the correct frame rate
+    // and generate error messages
+    // let mut compressed_data_by_topic: HashMap<String, (usize, usize, Vec<u8>)> = HashMap::new();
+
+    let schema_id = video_mcap.add_schema(
+        CompressedImage::ROS_TYPE_NAME,
+        "ros1msg",
+        CompressedImage::DEFINITION.as_bytes(),
+    )?;
+
+    let mut connection_summary = BTreeMap::new();
+
+    let mut count = 0;
+    for message in mcap::MessageStream::new(&mapped)? {
+        let full_message = message.unwrap();
+        let schema = full_message.channel.schema.as_ref().unwrap().clone();
+        if schema.name.ne("sensor_msgs/Image") {
+            // TODO(lucasw) optionally write every non-Image message unchanged
+            continue;
+        }
+
+        count += 1;
+        println!("{count}");
+
+        let msg_with_header = roslibrust_util::get_message_data_with_header(full_message.data);
+        let msg = serde_rosmsg::from_slice::<Image>(&msg_with_header).unwrap();
+
+        // println!("{:?}", msg);
+        let timestamp = msg.header.stamp;
+        let frame_id = msg.header.frame_id;
+
+        let mat_buf = Mat::from_slice::<u8>(&msg.data)?;
+        let cv_image = {
+            match msg.encoding.as_str() {
+                "bgr8" => mat_buf.reshape(3, msg.height as i32)?,
+                "mono8" => mat_buf.reshape(1, msg.height as i32)?,
+                _ => {
+                    println!("unsupported encoding {}", msg.encoding);
+                    continue;
+                }
+            }
+        };
+
+        let topic = std::format!("{topic}/compressed", topic = full_message.channel.topic);
+
+        /*
+        let topic = std::format!("{topic}_video", topic = full_message.channel.topic);
+        let reader = ImageReader::new(Cursor::new(data))
+            .with_guessed_format()
+            .expect("Cursor io never fails");
+
+        let img = reader.decode()?;
+
+        let rgb8 = &img.to_rgb8();
+
+        let width = usize::try_from(rgb8.width()).unwrap();
+        let height = usize::try_from(rgb8.height()).unwrap();
+
+        let (width2, height2, compressed_data) =
+            compressed_data_by_topic.entry(topic.clone()).or_insert_with(|| {
+                println!("{topic}");
+                (width, height, Vec::new())
+            });
+        assert!(width == *width2);
+        assert!(height == *height2);
+
+        let encoder = encoders_by_topic.entry(topic.clone()).or_insert_with(|| {
+            // fixme - command line argument for bitrate
+            let config =
+                EncoderConfig::new(rgb8.width(), rgb8.height()).set_bitrate_bps(10_000_000);
+            Encoder::with_config(config).unwrap()
+        });
+
+        let yuv = YUVBuffer::with_rgb(width, height, rgb8);
+        let bitstream = encoder.encode(&yuv).unwrap();
+        bitstream.write_vec(compressed_data);
+        */
+
+        let mut data = Vector::<u8>::new();
+        let enc_rv = opencv::imgcodecs::imencode_def(".jpg", &cv_image, &mut data)?;
+        if !enc_rv {
+            return Err(anyhow::anyhow!("imencode failed"));
+        }
+
+        let mut out_msg = CompressedImage::default();
+        out_msg.header.stamp = timestamp;
+        out_msg.header.frame_id = frame_id;
+        out_msg.format = "jpg".to_string(); // "h264".to_string();
+        out_msg.data = data.to_vec();
+
+        let channel_id = topic_channel_ids
+            .entry(topic.clone())
+            .or_insert_with_key(|topic| {
+                connection_summary.insert("topic".to_string(), topic.to_string());
+                video_mcap
+                    .add_channel(schema_id, topic, "ros1", &connection_summary)
+                    .unwrap()
+            });
+
+        mcap_tools::mcap_write::<CompressedImage>(
+            &mut video_mcap,
+            &out_msg,
+            out_msg.header.clone(),
+            *channel_id,
+        )?;
+    }
+
+    /*
+    for (topic, (width, height, h264_data)) in h264_data_by_topic {
+        let name = format!("{}.mp4", topic.replace("/", "_"));
+        println!("muxing h264 to {name}");
+        let mut video_buffer = Cursor::new(Vec::new());
+        let mut mp4muxer = Mp4Muxer::new(&mut video_buffer);
+        mp4muxer.init_video(width as i32, height as i32, false, &topic);
+        mp4muxer.write_video(&h264_data);
+        mp4muxer.close();
+        video_buffer.seek(SeekFrom::Start(0))?;
+        let mut video_bytes = Vec::new();
+        video_buffer.read_to_end(&mut video_bytes)?;
+        std::fs::write(&name, &video_bytes)?;
+    }
+    */
+
+    video_mcap.finish().unwrap();
+    Ok(())
+}

From ce3f0d006a9b92db235f52fd36288f325b3865c1 Mon Sep 17 00:00:00 2001
From: Lucas Walter <wsacul@gmail.com>
Date: Sun, 1 Jun 2025 11:01:21 -0700
Subject: [PATCH 06/11] loop infinitely using mcap_play, later make that
 optional

---
 mcap_view/src/bin/mcap_view.rs | 114 +++++++++++++++++----------------
 1 file changed, 58 insertions(+), 56 deletions(-)

diff --git a/mcap_view/src/bin/mcap_view.rs b/mcap_view/src/bin/mcap_view.rs
index 0595509..3266f9c 100644
--- a/mcap_view/src/bin/mcap_view.rs
+++ b/mcap_view/src/bin/mcap_view.rs
@@ -68,65 +68,67 @@ fn main() -> Result<()> {
     let mut viewers_by_topic: HashMap<String, (Window, usize, usize)> = HashMap::new();
 
     log::info!("iterating through messages");
-    for message in mcap::MessageStream::new(&mapped_mcap)? {
-        let message = message?;
-        // let schema = message.channel.schema.ok_or(anyhow::anyhow!("bad schema"))?.clone(); //.as_ref();
-        let schema_name = &message
-            .channel
-            .schema
-            .clone()
-            .ok_or(anyhow::anyhow!("bad schema"))?
-            .name;
-        if schema_name.ne("sensor_msgs/CompressedImage") {
-            continue;
-        }
-        let topic = &message.channel.topic;
-
-        let msg_with_header = roslibrust_util::get_message_data_with_header(message.data);
-        let msg = serde_rosmsg::from_slice::<CompressedImage>(&msg_with_header).unwrap();
-        let (rgb8, width, height) = compressed_image_to_bgr8(&msg.data)?;
-
-        let (window, width0, height0) =
-            viewers_by_topic.entry(topic.clone()).or_insert_with(|| {
-                log::info!(
-                    "visualizing {topic} {width}x{height} ({} bytes)",
-                    rgb8.len()
-                );
-                let window = Window::new(
-                    topic,
-                    width,
-                    height,
-                    WindowOptions {
-                        resize: true,
-                        scale: Scale::X1,
-                        scale_mode: ScaleMode::AspectRatioStretch,
-                        ..WindowOptions::default()
-                    },
-                )
-                .unwrap();
-                (window, width, height)
-            });
-        if width != *width0 || height != *height0 {
-            log::warn!("inconsistent image size topic width {width} was {width0}, height {height} was {height0}");
-            // continue;
-        }
+    loop {
+        for message in mcap::MessageStream::new(&mapped_mcap)? {
+            let message = message?;
+            // let schema = message.channel.schema.ok_or(anyhow::anyhow!("bad schema"))?.clone(); //.as_ref();
+            let schema_name = &message
+                .channel
+                .schema
+                .clone()
+                .ok_or(anyhow::anyhow!("bad schema"))?
+                .name;
+            if schema_name.ne("sensor_msgs/CompressedImage") {
+                continue;
+            }
+            let topic = &message.channel.topic;
+
+            let msg_with_header = roslibrust_util::get_message_data_with_header(message.data);
+            let msg = serde_rosmsg::from_slice::<CompressedImage>(&msg_with_header).unwrap();
+            let (rgb8, width, height) = compressed_image_to_bgr8(&msg.data)?;
 
-        let rgba32 = {
-            // TODO(lucasw) safe way to do this?
-            unsafe {
-                let (prefix, rgba32, suffix) = rgb8.align_to::<u32>();
-                if !prefix.is_empty() || !prefix.is_empty() {
-                    log::warn!(
-                        "{} u8 -> {prefix:?} {} {suffix:?}",
-                        rgb8.len(),
-                        rgba32.len()
+            let (window, width0, height0) =
+                viewers_by_topic.entry(topic.clone()).or_insert_with(|| {
+                    log::info!(
+                        "visualizing {topic} {width}x{height} ({} bytes)",
+                        rgb8.len()
                     );
-                }
-                rgba32
+                    let window = Window::new(
+                        topic,
+                        width,
+                        height,
+                        WindowOptions {
+                            resize: true,
+                            scale: Scale::X1,
+                            scale_mode: ScaleMode::AspectRatioStretch,
+                            ..WindowOptions::default()
+                        },
+                    )
+                    .unwrap();
+                    (window, width, height)
+                });
+            if width != *width0 || height != *height0 {
+                log::warn!("inconsistent image size topic width {width} was {width0}, height {height} was {height0}");
+                // continue;
             }
-        };
-        window.update_with_buffer(rgba32, width, height)?;
+
+            let rgba32 = {
+                // TODO(lucasw) safe way to do this?
+                unsafe {
+                    let (prefix, rgba32, suffix) = rgb8.align_to::<u32>();
+                    if !prefix.is_empty() || !prefix.is_empty() {
+                        log::warn!(
+                            "{} u8 -> {prefix:?} {} {suffix:?}",
+                            rgb8.len(),
+                            rgba32.len()
+                        );
+                    }
+                    rgba32
+                }
+            };
+            window.update_with_buffer(rgba32, width, height)?;
+        }
     }
 
-    Ok(())
+    // Ok(())
 }

From e4701546daeed3c225620d186eae10ae9bcfb220 Mon Sep 17 00:00:00 2001
From: Lucas Walter <wsacul@gmail.com>
Date: Mon, 2 Jun 2025 07:48:25 -0700
Subject: [PATCH 07/11] install clang

---
 .github/workflows/ubuntu_22_04.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/ubuntu_22_04.yml b/.github/workflows/ubuntu_22_04.yml
index e7b736b..7d98dd0 100644
--- a/.github/workflows/ubuntu_22_04.yml
+++ b/.github/workflows/ubuntu_22_04.yml
@@ -43,6 +43,7 @@ jobs:
 
       - name: more apt installs
         run: |
+          sudo apt-get install -yqq clang libclang-dev
           sudo apt install -yqq python3-rosmsg rospack-tools libsensor-msgs-dev libstd-msgs-dev libgeometry-msgs-dev ros-sensor-msgs ros-std-msgs ros-geometry-msgs cargo pkg-config
           sudo apt install -yqq libstd-srvs-dev python3-std-srvs ros-std-srvs
           sudo apt install -yqq libtf2-msgs-dev python3-tf2-msgs ros-tf2-msgs

From b57220970b6853fdef06a273f0b97d918db81113 Mon Sep 17 00:00:00 2001
From: Lucas Walter <wsacul@gmail.com>
Date: Mon, 2 Jun 2025 08:31:48 -0700
Subject: [PATCH 08/11] need to install opencv

---
 .github/workflows/ubuntu_22_04.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/ubuntu_22_04.yml b/.github/workflows/ubuntu_22_04.yml
index 7d98dd0..90336b1 100644
--- a/.github/workflows/ubuntu_22_04.yml
+++ b/.github/workflows/ubuntu_22_04.yml
@@ -44,6 +44,7 @@ jobs:
       - name: more apt installs
         run: |
           sudo apt-get install -yqq clang libclang-dev
+          sudo apt-get install -yqq libopencv-dev
           sudo apt install -yqq python3-rosmsg rospack-tools libsensor-msgs-dev libstd-msgs-dev libgeometry-msgs-dev ros-sensor-msgs ros-std-msgs ros-geometry-msgs cargo pkg-config
           sudo apt install -yqq libstd-srvs-dev python3-std-srvs ros-std-srvs
           sudo apt install -yqq libtf2-msgs-dev python3-tf2-msgs ros-tf2-msgs

From 2e0feb45d13bc3f4f1ccaf2cf741b8fe50e518bd Mon Sep 17 00:00:00 2001
From: Lucas Walter <wsacul@gmail.com>
Date: Mon, 2 Jun 2025 15:08:42 -0700
Subject: [PATCH 09/11] update roslibrust_util

---
 Cargo.lock | 47 +++++++----------------------------------------
 1 file changed, 7 insertions(+), 40 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index f55ddd6..aa0bcb7 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -827,7 +827,7 @@ dependencies = [
  "js-sys",
  "log",
  "wasm-bindgen",
- "windows-core 0.61.0",
+ "windows-core",
 ]
 
 [[package]]
@@ -1072,7 +1072,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "07033963ba89ebaf1584d767badaa2e8fcec21aedea6b8c0346d487d49c28667"
 dependencies = [
  "cfg-if",
- "windows-targets 0.52.6",
+ "windows-targets 0.53.0",
 ]
 
 [[package]]
@@ -1935,7 +1935,7 @@ dependencies = [
 [[package]]
 name = "roslibrust_util"
 version = "0.2.0"
-source = "git+https://github.com/lucasw/tf_roslibrust#0a5d71ec7ade997dd7ec32159380007dd78a563f"
+source = "git+https://github.com/lucasw/tf_roslibrust#823aa1e8be59109cd3b6942afafead4bfac64643"
 dependencies = [
  "anyhow",
  "camino",
@@ -2444,7 +2444,7 @@ dependencies = [
 [[package]]
 name = "tf_roslibrust"
 version = "0.2.5"
-source = "git+https://github.com/lucasw/tf_roslibrust#0a5d71ec7ade997dd7ec32159380007dd78a563f"
+source = "git+https://github.com/lucasw/tf_roslibrust#823aa1e8be59109cd3b6942afafead4bfac64643"
 dependencies = [
  "anyhow",
  "chrono",
@@ -3017,7 +3017,7 @@ version = "0.59.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7f919aee0a93304be7f62e8e5027811bbba96bcb1de84d6618be56e43f8a32a1"
 dependencies = [
- "windows-core 0.59.0",
+ "windows-core",
  "windows-targets 0.53.0",
 ]
 
@@ -3027,26 +3027,13 @@ version = "0.59.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "810ce18ed2112484b0d4e15d022e5f598113e220c53e373fb31e67e21670c1ce"
 dependencies = [
- "windows-implement 0.59.0",
+ "windows-implement",
  "windows-interface",
  "windows-result",
- "windows-strings 0.3.1",
+ "windows-strings",
  "windows-targets 0.53.0",
 ]
 
-[[package]]
-name = "windows-core"
-version = "0.61.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4763c1de310c86d75a878046489e2e5ba02c649d185f21c67d4cf8a56d098980"
-dependencies = [
- "windows-implement 0.60.0",
- "windows-interface",
- "windows-link",
- "windows-result",
- "windows-strings 0.4.0",
-]
-
 [[package]]
 name = "windows-implement"
 version = "0.59.0"
@@ -3058,17 +3045,6 @@ dependencies = [
  "syn 2.0.100",
 ]
 
-[[package]]
-name = "windows-implement"
-version = "0.60.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a47fddd13af08290e67f4acabf4b459f647552718f683a7b415d290ac744a836"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.100",
-]
-
 [[package]]
 name = "windows-interface"
 version = "0.59.1"
@@ -3104,15 +3080,6 @@ dependencies = [
  "windows-link",
 ]
 
-[[package]]
-name = "windows-strings"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7a2ba9642430ee452d5a7aa78d72907ebe8cfda358e8cb7918a2050581322f97"
-dependencies = [
- "windows-link",
-]
-
 [[package]]
 name = "windows-sys"
 version = "0.48.0"

From b34343d33803e442b898de5f7e0810c27aac57d7 Mon Sep 17 00:00:00 2001
From: Lucas Walter <wsacul@gmail.com>
Date: Mon, 2 Jun 2025 15:18:35 -0700
Subject: [PATCH 10/11] update tf_roslibrust again

---
 Cargo.lock | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index aa0bcb7..8931106 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1935,7 +1935,7 @@ dependencies = [
 [[package]]
 name = "roslibrust_util"
 version = "0.2.0"
-source = "git+https://github.com/lucasw/tf_roslibrust#823aa1e8be59109cd3b6942afafead4bfac64643"
+source = "git+https://github.com/lucasw/tf_roslibrust#a46ab41537d034a2143480619f6802db30d9e6f9"
 dependencies = [
  "anyhow",
  "camino",
@@ -2444,7 +2444,7 @@ dependencies = [
 [[package]]
 name = "tf_roslibrust"
 version = "0.2.5"
-source = "git+https://github.com/lucasw/tf_roslibrust#823aa1e8be59109cd3b6942afafead4bfac64643"
+source = "git+https://github.com/lucasw/tf_roslibrust#a46ab41537d034a2143480619f6802db30d9e6f9"
 dependencies = [
  "anyhow",
  "chrono",

From 043f54075d74ed3b29a03f220b437d50c70eb22e Mon Sep 17 00:00:00 2001
From: Lucas Walter <wsacul@gmail.com>
Date: Thu, 5 Jun 2025 16:21:59 -0700
Subject: [PATCH 11/11] moving rerun visualization from ros_one2z repo

---
 Cargo.lock                         | 9779 ++++++++++++++++++++++++----
 mcap_tools/src/lib.rs              |   27 +
 mcap_view/Cargo.toml               |    7 +
 mcap_view/src/bin/mcap_to_rerun.rs |  158 +
 4 files changed, 8873 insertions(+), 1098 deletions(-)
 create mode 100644 mcap_view/src/bin/mcap_to_rerun.rs

diff --git a/Cargo.lock b/Cargo.lock
index 8931106..bc3449e 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2,6 +2,22 @@
 # It is not intended for manual editing.
 version = 4
 
+[[package]]
+name = "ab_glyph"
+version = "0.2.29"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ec3672c180e71eeaaac3a541fbbc5f5ad4def8b747c595ad30d674e43049f7b0"
+dependencies = [
+ "ab_glyph_rasterizer",
+ "owned_ttf_parser",
+]
+
+[[package]]
+name = "ab_glyph_rasterizer"
+version = "0.1.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c71b1793ee61086797f5c80b6efa2b8ffa6d5dd703f118545808a7f2e27f7046"
+
 [[package]]
 name = "abort-on-drop"
 version = "0.2.2"
@@ -11,6 +27,102 @@ dependencies = [
  "tokio",
 ]
 
+[[package]]
+name = "accesskit"
+version = "0.17.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d3d3b8f9bae46a948369bc4a03e815d4ed6d616bd00de4051133a5019dc31c5a"
+dependencies = [
+ "enumn",
+ "serde",
+]
+
+[[package]]
+name = "accesskit_atspi_common"
+version = "0.10.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7c5dd55e6e94949498698daf4d48fb5659e824d7abec0d394089656ceaf99d4f"
+dependencies = [
+ "accesskit",
+ "accesskit_consumer",
+ "atspi-common",
+ "serde",
+ "thiserror 1.0.69",
+ "zvariant 4.2.0",
+]
+
+[[package]]
+name = "accesskit_consumer"
+version = "0.26.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f47983a1084940ba9a39c077a8c63e55c619388be5476ac04c804cfbd1e63459"
+dependencies = [
+ "accesskit",
+ "hashbrown 0.15.2",
+ "immutable-chunkmap",
+]
+
+[[package]]
+name = "accesskit_macos"
+version = "0.18.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7329821f3bd1101e03a7d2e03bd339e3ac0dc64c70b4c9f9ae1949e3ba8dece1"
+dependencies = [
+ "accesskit",
+ "accesskit_consumer",
+ "hashbrown 0.15.2",
+ "objc2 0.5.2",
+ "objc2-app-kit 0.2.2",
+ "objc2-foundation 0.2.2",
+]
+
+[[package]]
+name = "accesskit_unix"
+version = "0.13.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fcee751cc20d88678c33edaf9c07e8b693cd02819fe89053776f5313492273f5"
+dependencies = [
+ "accesskit",
+ "accesskit_atspi_common",
+ "async-channel",
+ "async-executor",
+ "async-task",
+ "atspi",
+ "futures-lite",
+ "futures-util",
+ "serde",
+ "zbus 4.4.0",
+]
+
+[[package]]
+name = "accesskit_windows"
+version = "0.24.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "24fcd5d23d70670992b823e735e859374d694a3d12bfd8dd32bd3bd8bedb5d81"
+dependencies = [
+ "accesskit",
+ "accesskit_consumer",
+ "hashbrown 0.15.2",
+ "paste",
+ "static_assertions",
+ "windows 0.58.0",
+ "windows-core 0.58.0",
+]
+
+[[package]]
+name = "accesskit_winit"
+version = "0.23.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6a6a48dad5530b6deb9fc7a52cc6c3bf72cdd9eb8157ac9d32d69f2427a5e879"
+dependencies = [
+ "accesskit",
+ "accesskit_macos",
+ "accesskit_unix",
+ "accesskit_windows",
+ "raw-window-handle",
+ "winit",
+]
+
 [[package]]
 name = "addr2line"
 version = "0.24.2"
@@ -26,6 +138,21 @@ version = "2.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "512761e0bb2578dd7380c6baaa0f4ce03e84f95e960231d1dec8bf4d7d6e2627"
 
+[[package]]
+name = "ahash"
+version = "0.8.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5a15f179cd60c4584b8a8c596927aadc462e27f2ca70c04e0071964a73ba7a75"
+dependencies = [
+ "cfg-if",
+ "const-random",
+ "getrandom 0.3.2",
+ "once_cell",
+ "serde",
+ "version_check",
+ "zerocopy 0.8.25",
+]
+
 [[package]]
 name = "aho-corasick"
 version = "1.1.3"
@@ -35,6 +162,39 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923"
+
+[[package]]
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+checksum = "ef6978589202a00cd7e118380c448a08b6ed394c3a8df3a430d0898e3a42d046"
+dependencies = [
+ "android-properties",
+ "bitflags 2.9.0",
+ "cc",
+ "cesu8",
+ "jni",
+ "jni-sys",
+ "libc",
+ "log",
+ "ndk",
+ "ndk-context",
+ "ndk-sys 0.6.0+11769913",
+ "num_enum",
+ "thiserror 1.0.69",
+]
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fc7eb209b1518d6bb87b283c20095f5228ecda460da70b44f0802523dea6da04"
+
 [[package]]
 name = "android-tzdata"
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@@ -115,6 +275,26 @@ dependencies = [
  "num-traits",
 ]
 
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c1df21f715862ede32a0c525ce2ca4d52626bb0007f8c18b87a384503ac33e70"
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+ "image",
+ "log",
+ "objc2 0.6.1",
+ "objc2-app-kit 0.3.1",
+ "objc2-core-foundation",
+ "objc2-core-graphics",
+ "objc2-foundation 0.3.1",
+ "parking_lot",
+ "percent-encoding",
+ "windows-sys 0.59.0",
+ "x11rb",
+]
+
 [[package]]
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@@ -122,313 +302,437 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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+checksum = "76a2e8124351fda1ef8aaaa3bbd7ebbcb486bbcd4225aca0aa0d84bb2db8fecb"
 
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- "cfg-if",
- "libc",
- "miniz_oxide",
- "object",
- "rustc-demangle",
- "windows-targets 0.52.6",
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+checksum = "7c02d123df017efcdfbd739ef81735b36c5ba83ec3c59c80a9d7ecc718f92e50"
 
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+ "arrow-data",
+ "arrow-ipc",
+ "arrow-ord",
+ "arrow-row",
+ "arrow-schema",
+ "arrow-select",
+ "arrow-string",
+]
 
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- "array-init",
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+ "bytes",
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- "proc-macro2",
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+ "arrow-schema",
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+ "num",
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- "iana-time-zone",
- "js-sys",
- "num-traits",
- "wasm-bindgen",
- "windows-link",
+ "libloading",
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 [[package]]
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+ "async-fs",
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+ "rand 0.9.1",
+ "raw-window-handle",
+ "serde",
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+ "rustix 1.0.7",
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+ "cfg-if",
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- "mio",
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- "rustix 0.38.44",
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- "winapi",
+ "futures-io",
+ "rustix 1.0.7",
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+ "windows-sys 0.59.0",
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+ "re_ui",
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+ "slotmap",
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+ "re_analytics",
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+ "tiny_http",
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@@ -1757,6 +7273,29 @@ dependencies = [
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+ "rustix 1.0.7",
+ "windows 0.61.1",
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+
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@@ -1801,6 +7340,12 @@ version = "0.8.5"
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+
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- "h2",
- "http",
- "http-body",
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+ "http 0.2.12",
+ "http-body 0.4.6",
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@@ -1825,11 +7370,11 @@ dependencies = [
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  "pin-project-lite",
- "rustls-pemfile",
+ "rustls-pemfile 1.0.4",
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@@ -1841,6 +7386,211 @@ dependencies = [
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+ "pin-project-lite",
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+ "rustls",
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+ "rmp",
+ "serde",
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+dependencies = [
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+ "bitflags 2.9.0",
+ "serde",
+ "serde_derive",
+]
+
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 version = "0.12.2"
@@ -1907,11 +7657,11 @@ dependencies = [
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  "byteorder",
  "gethostname",
- "hyper",
+ "hyper 0.14.32",
  "lazy_static",
  "log",
  "regex",
- "reqwest",
+ "reqwest 0.11.27",
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  "roslibrust_serde_rosmsg",
  "serde",
@@ -1952,12 +7702,45 @@ dependencies = [
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+
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92"
+dependencies = [
+ "semver",
+]
+
 [[package]]
 name = "rustix"
 version = "0.38.44"
@@ -1973,9 +7756,9 @@ dependencies = [
 
 [[package]]
 name = "rustix"
-version = "1.0.5"
+version = "1.0.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d97817398dd4bb2e6da002002db259209759911da105da92bec29ccb12cf58bf"
+checksum = "c71e83d6afe7ff64890ec6b71d6a69bb8a610ab78ce364b3352876bb4c801266"
 dependencies = [
  "bitflags 2.9.0",
  "errno",
@@ -1984,6 +7767,33 @@ dependencies = [
  "windows-sys 0.59.0",
 ]
 
+[[package]]
+name = "rustls"
+version = "0.23.27"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "730944ca083c1c233a75c09f199e973ca499344a2b7ba9e755c457e86fb4a321"
+dependencies = [
+ "log",
+ "once_cell",
+ "ring",
+ "rustls-pki-types",
+ "rustls-webpki",
+ "subtle",
+ "zeroize",
+]
+
+[[package]]
+name = "rustls-native-certs"
+version = "0.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7fcff2dd52b58a8d98a70243663a0d234c4e2b79235637849d15913394a247d3"
+dependencies = [
+ "openssl-probe",
+ "rustls-pki-types",
+ "schannel",
+ "security-framework 3.2.0",
+]
+
 [[package]]
 name = "rustls-pemfile"
 version = "1.0.4"
@@ -1993,6 +7803,36 @@ dependencies = [
  "base64 0.21.7",
 ]
 
+[[package]]
+name = "rustls-pemfile"
+version = "2.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dce314e5fee3f39953d46bb63bb8a46d40c2f8fb7cc5a3b6cab2bde9721d6e50"
+dependencies = [
+ "rustls-pki-types",
+]
+
+[[package]]
+name = "rustls-pki-types"
+version = "1.12.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "229a4a4c221013e7e1f1a043678c5cc39fe5171437c88fb47151a21e6f5b5c79"
+dependencies = [
+ "web-time",
+ "zeroize",
+]
+
+[[package]]
+name = "rustls-webpki"
+version = "0.103.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e4a72fe2bcf7a6ac6fd7d0b9e5cb68aeb7d4c0a0271730218b3e92d43b4eb435"
+dependencies = [
+ "ring",
+ "rustls-pki-types",
+ "untrusted",
+]
+
 [[package]]
 name = "rustversion"
 version = "1.0.20"
@@ -2044,6 +7884,19 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
 
+[[package]]
+name = "sctk-adwaita"
+version = "0.10.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b6277f0217056f77f1d8f49f2950ac6c278c0d607c45f5ee99328d792ede24ec"
+dependencies = [
+ "ab_glyph",
+ "log",
+ "memmap2 0.9.5",
+ "smithay-client-toolkit",
+ "tiny-skia",
+]
+
 [[package]]
 name = "sdl2"
 version = "0.35.2"
@@ -2064,17 +7917,30 @@ checksum = "e3586be2cf6c0a8099a79a12b4084357aa9b3e0b0d7980e3b67aaf7a9d55f9f0"
 dependencies = [
  "cfg-if",
  "libc",
- "version-compare",
+ "version-compare",
+]
+
+[[package]]
+name = "security-framework"
+version = "2.11.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "897b2245f0b511c87893af39b033e5ca9cce68824c4d7e7630b5a1d339658d02"
+dependencies = [
+ "bitflags 2.9.0",
+ "core-foundation 0.9.4",
+ "core-foundation-sys",
+ "libc",
+ "security-framework-sys",
 ]
 
 [[package]]
 name = "security-framework"
-version = "2.11.1"
+version = "3.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "897b2245f0b511c87893af39b033e5ca9cce68824c4d7e7630b5a1d339658d02"
+checksum = "271720403f46ca04f7ba6f55d438f8bd878d6b8ca0a1046e8228c4145bcbb316"
 dependencies = [
  "bitflags 2.9.0",
- "core-foundation",
+ "core-foundation 0.10.1",
  "core-foundation-sys",
  "libc",
  "security-framework-sys",
@@ -2095,6 +7961,15 @@ name = "semver"
 version = "1.0.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "56e6fa9c48d24d85fb3de5ad847117517440f6beceb7798af16b4a87d616b8d0"
+dependencies = [
+ "serde",
+]
+
+[[package]]
+name = "seq-macro"
+version = "0.3.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1bc711410fbe7399f390ca1c3b60ad0f53f80e95c5eb935e52268a0e2cd49acc"
 
 [[package]]
 name = "serde"
@@ -2123,6 +7998,17 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "serde-wasm-bindgen"
+version = "0.6.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8302e169f0eddcc139c70f139d19d6467353af16f9fce27e8c30158036a1e16b"
+dependencies = [
+ "js-sys",
+ "serde",
+ "wasm-bindgen",
+]
+
 [[package]]
 name = "serde_bytes"
 version = "0.11.17"
@@ -2155,6 +8041,17 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "serde_repr"
+version = "0.1.20"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "175ee3e80ae9982737ca543e96133087cbd9a485eecc3bc4de9c1a37b47ea59c"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.100",
+]
+
 [[package]]
 name = "serde_rosmsg"
 version = "0.2.0"
@@ -2197,12 +8094,45 @@ dependencies = [
  "anyhow",
  "base64 0.22.1",
  "iso8601",
- "quick-xml",
+ "quick-xml 0.31.0",
  "serde",
  "serde-transcode",
  "thiserror 1.0.69",
 ]
 
+[[package]]
+name = "sha-1"
+version = "0.10.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f5058ada175748e33390e40e872bd0fe59a19f265d0158daa551c5a88a76009c"
+dependencies = [
+ "cfg-if",
+ "cpufeatures",
+ "digest",
+]
+
+[[package]]
+name = "sha1"
+version = "0.10.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e3bf829a2d51ab4a5ddf1352d8470c140cadc8301b2ae1789db023f01cedd6ba"
+dependencies = [
+ "cfg-if",
+ "cpufeatures",
+ "digest",
+]
+
+[[package]]
+name = "sha2"
+version = "0.10.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a7507d819769d01a365ab707794a4084392c824f54a7a6a7862f8c3d0892b283"
+dependencies = [
+ "cfg-if",
+ "cpufeatures",
+ "digest",
+]
+
 [[package]]
 name = "sharded-slab"
 version = "0.1.7"
@@ -2235,7 +8165,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "34db1a06d485c9142248b7a054f034b349b212551f3dfd19c94d45a754a217cd"
 dependencies = [
  "libc",
- "mio",
+ "mio 1.0.3",
  "signal-hook",
 ]
 
@@ -2274,6 +8204,38 @@ dependencies = [
  "wide",
 ]
 
+[[package]]
+name = "simd-adler32"
+version = "0.3.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d66dc143e6b11c1eddc06d5c423cfc97062865baf299914ab64caa38182078fe"
+
+[[package]]
+name = "similar"
+version = "2.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bbbb5d9659141646ae647b42fe094daf6c6192d1620870b449d9557f748b2daa"
+dependencies = [
+ "bstr",
+ "unicode-segmentation",
+]
+
+[[package]]
+name = "similar-asserts"
+version = "1.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b5b441962c817e33508847a22bd82f03a30cff43642dc2fae8b050566121eb9a"
+dependencies = [
+ "console",
+ "similar",
+]
+
+[[package]]
+name = "simple-easing"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "832ddd7df0d98d6fd93b973c330b7c8e0742d5cb8f1afc7dea89dba4d2531aa1"
+
 [[package]]
 name = "simple-error"
 version = "0.3.1"
@@ -2292,6 +8254,42 @@ dependencies = [
  "windows-sys 0.48.0",
 ]
 
+[[package]]
+name = "simplecss"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7a9c6883ca9c3c7c90e888de77b7a5c849c779d25d74a1269b0218b14e8b136c"
+dependencies = [
+ "log",
+]
+
+[[package]]
+name = "siphasher"
+version = "0.3.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38b58827f4464d87d377d175e90bf58eb00fd8716ff0a62f80356b5e61555d0d"
+
+[[package]]
+name = "siphasher"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "56199f7ddabf13fe5074ce809e7d3f42b42ae711800501b5b16ea82ad029c39d"
+
+[[package]]
+name = "skeptic"
+version = "0.13.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "16d23b015676c90a0f01c197bfdc786c20342c73a0afdda9025adb0bc42940a8"
+dependencies = [
+ "bytecount",
+ "cargo_metadata 0.14.2",
+ "error-chain 0.12.4",
+ "glob",
+ "pulldown-cmark 0.9.6",
+ "tempfile",
+ "walkdir",
+]
+
 [[package]]
 name = "slab"
 version = "0.4.9"
@@ -2301,11 +8299,24 @@ dependencies = [
  "autocfg",
 ]
 
+[[package]]
+name = "slotmap"
+version = "1.0.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dbff4acf519f630b3a3ddcfaea6c06b42174d9a44bc70c620e9ed1649d58b82a"
+dependencies = [
+ "serde",
+ "version_check",
+]
+
 [[package]]
 name = "smallvec"
 version = "1.15.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8917285742e9f3e1683f0a9c4e6b57960b7314d0b08d30d1ecd426713ee2eee9"
+dependencies = [
+ "serde",
+]
 
 [[package]]
 name = "smart-default"
@@ -2318,6 +8329,57 @@ dependencies = [
  "syn 2.0.100",
 ]
 
+[[package]]
+name = "smithay-client-toolkit"
+version = "0.19.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3457dea1f0eb631b4034d61d4d8c32074caa6cd1ab2d59f2327bd8461e2c0016"
+dependencies = [
+ "bitflags 2.9.0",
+ "calloop",
+ "calloop-wayland-source",
+ "cursor-icon",
+ "libc",
+ "log",
+ "memmap2 0.9.5",
+ "rustix 0.38.44",
+ "thiserror 1.0.69",
+ "wayland-backend",
+ "wayland-client 0.31.10",
+ "wayland-csd-frame",
+ "wayland-cursor 0.31.10",
+ "wayland-protocols 0.32.8",
+ "wayland-protocols-wlr",
+ "wayland-scanner 0.31.6",
+ "xkeysym",
+]
+
+[[package]]
+name = "smithay-clipboard"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cc8216eec463674a0e90f29e0ae41a4db573ec5b56b1c6c1c71615d249b6d846"
+dependencies = [
+ "libc",
+ "smithay-client-toolkit",
+ "wayland-backend",
+]
+
+[[package]]
+name = "smol_str"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dd538fb6910ac1099850255cf94a94df6551fbdd602454387d0adb2d1ca6dead"
+dependencies = [
+ "serde",
+]
+
+[[package]]
+name = "snap"
+version = "1.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1b6b67fb9a61334225b5b790716f609cd58395f895b3fe8b328786812a40bc3b"
+
 [[package]]
 name = "socket2"
 version = "0.5.9"
@@ -2328,6 +8390,32 @@ dependencies = [
  "windows-sys 0.52.0",
 ]
 
+[[package]]
+name = "spirv"
+version = "0.3.0+sdk-1.3.268.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "eda41003dc44290527a59b13432d4a0379379fa074b70174882adfbdfd917844"
+dependencies = [
+ "bitflags 2.9.0",
+]
+
+[[package]]
+name = "ssri"
+version = "9.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "da7a2b3c2bc9693bcb40870c4e9b5bf0d79f9cb46273321bf855ec513e919082"
+dependencies = [
+ "base64 0.21.7",
+ "digest",
+ "hex",
+ "miette",
+ "serde",
+ "sha-1",
+ "sha2",
+ "thiserror 1.0.69",
+ "xxhash-rust",
+]
+
 [[package]]
 name = "stable_deref_trait"
 version = "1.2.0"
@@ -2340,12 +8428,65 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f"
 
+[[package]]
+name = "strict-num"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6637bab7722d379c8b41ba849228d680cc12d0a45ba1fa2b48f2a30577a06731"
+dependencies = [
+ "float-cmp",
+]
+
 [[package]]
 name = "strsim"
 version = "0.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
 
+[[package]]
+name = "strum"
+version = "0.26.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8fec0f0aef304996cf250b31b5a10dee7980c85da9d759361292b8bca5a18f06"
+dependencies = [
+ "strum_macros",
+]
+
+[[package]]
+name = "strum_macros"
+version = "0.26.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4c6bee85a5a24955dc440386795aa378cd9cf82acd5f764469152d2270e581be"
+dependencies = [
+ "heck",
+ "proc-macro2",
+ "quote",
+ "rustversion",
+ "syn 2.0.100",
+]
+
+[[package]]
+name = "sublime_fuzzy"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fa7986063f7c0ab374407e586d7048a3d5aac94f103f751088bf398e07cd5400"
+
+[[package]]
+name = "subtle"
+version = "2.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "13c2bddecc57b384dee18652358fb23172facb8a2c51ccc10d74c157bdea3292"
+
+[[package]]
+name = "svgtypes"
+version = "0.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6e44e288cd960318917cbd540340968b90becc8bc81f171345d706e7a89d9d70"
+dependencies = [
+ "kurbo",
+ "siphasher 0.3.11",
+]
+
 [[package]]
 name = "syn"
 version = "1.0.109"
@@ -2374,6 +8515,15 @@ version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2047c6ded9c721764247e62cd3b03c09ffc529b2ba5b10ec482ae507a4a70160"
 
+[[package]]
+name = "sync_wrapper"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0bf256ce5efdfa370213c1dabab5935a12e49f2c58d15e9eac2870d3b4f27263"
+dependencies = [
+ "futures-core",
+]
+
 [[package]]
 name = "synstructure"
 version = "0.13.1"
@@ -2385,6 +8535,20 @@ dependencies = [
  "syn 2.0.100",
 ]
 
+[[package]]
+name = "sysinfo"
+version = "0.30.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0a5b4ddaee55fb2bea2bf0e5000747e5f5c0de765e5a5ff87f4cd106439f4bb3"
+dependencies = [
+ "cfg-if",
+ "core-foundation-sys",
+ "libc",
+ "ntapi",
+ "once_cell",
+ "windows 0.52.0",
+]
+
 [[package]]
 name = "system-configuration"
 version = "0.5.1"
@@ -2392,7 +8556,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ba3a3adc5c275d719af8cb4272ea1c4a6d668a777f37e115f6d11ddbc1c8e0e7"
 dependencies = [
  "bitflags 1.3.2",
- "core-foundation",
+ "core-foundation 0.9.4",
  "system-configuration-sys",
 ]
 
@@ -2406,6 +8570,12 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "tap"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "55937e1799185b12863d447f42597ed69d9928686b8d88a1df17376a097d8369"
+
 [[package]]
 name = "tempfile"
 version = "3.19.1"
@@ -2413,12 +8583,21 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7437ac7763b9b123ccf33c338a5cc1bac6f69b45a136c19bdd8a65e3916435bf"
 dependencies = [
  "fastrand",
- "getrandom",
+ "getrandom 0.3.2",
  "once_cell",
- "rustix 1.0.5",
+ "rustix 1.0.7",
  "windows-sys 0.59.0",
 ]
 
+[[package]]
+name = "termcolor"
+version = "1.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "06794f8f6c5c898b3275aebefa6b8a1cb24cd2c6c79397ab15774837a0bc5755"
+dependencies = [
+ "winapi-util",
+]
+
 [[package]]
 name = "test-log"
 version = "0.2.17"
@@ -2507,43 +8686,122 @@ dependencies = [
 name = "thread_local"
 version = "1.1.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8b9ef9bad013ada3808854ceac7b46812a6465ba368859a37e2100283d2d719c"
+checksum = "8b9ef9bad013ada3808854ceac7b46812a6465ba368859a37e2100283d2d719c"
+dependencies = [
+ "cfg-if",
+ "once_cell",
+]
+
+[[package]]
+name = "thrift"
+version = "0.17.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7e54bc85fc7faa8bc175c4bab5b92ba8d9a3ce893d0e9f42cc455c8ab16a9e09"
+dependencies = [
+ "byteorder",
+ "integer-encoding",
+ "ordered-float 2.10.1",
+]
+
+[[package]]
+name = "tiff"
+version = "0.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ba1310fcea54c6a9a4fd1aad794ecc02c31682f6bfbecdf460bf19533eed1e3e"
+dependencies = [
+ "flate2",
+ "jpeg-decoder",
+ "weezl",
+]
+
+[[package]]
+name = "time"
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- "libc",
- "num-conv",
- "num_threads",
- "powerfmt",
- "serde",
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+ "arrayref",
+ "bytemuck",
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- "num-conv",
- "time-core",
+ "bytemuck",
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 [[package]]
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+dependencies = [
+ "ahash",
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+
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@@ -2565,7 +8853,7 @@ dependencies = [
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  "bytes",
  "libc",
- "mio",
+ "mio 1.0.3",
  "parking_lot",
  "pin-project-lite",
  "signal-hook-registry",
@@ -2595,6 +8883,28 @@ dependencies = [
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+dependencies = [
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+ "pin-project-lite",
+ "tokio",
+ "tokio-util",
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+
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@@ -2635,13 +8946,166 @@ version = "0.22.24"
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+ "indexmap 2.9.0",
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+ "hyper 1.6.0",
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+ "hyper-util",
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+ "pin-project",
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+ "socket2",
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+
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 dependencies = [
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+checksum = "8ecb6da28b8a351d773b68d5825ac39017e680750f980f3a1a85cd8dd28a47c1"
 
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+checksum = "02d1a66277ed75f640d608235660df48c8e3c19f3b4edb6a263315626cc3c01d"
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+ "rustls",
+ "rustls-pki-types",
+ "url",
+ "webpki-roots 0.26.11",
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- "regex",
- "sharded-slab",
- "smallvec",
- "thread_local",
- "tracing",
- "tracing-core",
- "tracing-log",
+ "form_urlencoded",
+ "idna",
+ "percent-encoding",
+ "serde",
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+dependencies = [
+ "base64 0.21.7",
+ "log",
+ "pico-args",
+ "usvg-parser",
+ "usvg-tree",
+ "xmlwriter",
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-checksum = "5a5f39404a5da50712a4c1eecf25e90dd62b613502b7e925fd4e4d19b5c96512"
+checksum = "9bd4e3c291f45d152929a31f0f6c819245e2921bfd01e7bd91201a9af39a2bdc"
+dependencies = [
+ "data-url",
+ "flate2",
+ "imagesize",
+ "kurbo",
+ "log",
+ "roxmltree",
+ "simplecss",
+ "siphasher 0.3.11",
+ "svgtypes",
+ "usvg-tree",
+]
 
 [[package]]
-name = "url"
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+name = "usvg-tree"
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-checksum = "32f8b686cadd1473f4bd0117a5d28d36b1ade384ea9b5069a1c40aefed7fda60"
+checksum = "8ee3d202ebdb97a6215604b8f5b4d6ef9024efd623cf2e373a6416ba976ec7d3"
 dependencies = [
- "form_urlencoded",
- "idna",
- "percent-encoding",
+ "rctree",
+ "strict-num",
+ "svgtypes",
+ "tiny-skia-path",
 ]
 
 [[package]]
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 checksum = "06abde3611657adf66d383f00b093d7faecc7fa57071cce2578660c9f1010821"
 
+[[package]]
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+checksum = "3f423a2c17029964870cfaabb1f13dfab7d092a62a29a89264f4d36990ca414a"
+
+[[package]]
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+checksum = "b63fd466826ec8fe25e1fc010c169213fec4e135ac39caccdba830eaa3895923"
+dependencies = [
+ "zune-core",
+]
+
+[[package]]
+name = "zvariant"
+version = "4.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2084290ab9a1c471c38fc524945837734fbf124487e105daec2bb57fd48c81fe"
+dependencies = [
+ "endi",
+ "enumflags2",
+ "serde",
+ "static_assertions",
+ "zvariant_derive 4.2.0",
+]
+
+[[package]]
+name = "zvariant"
+version = "5.5.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9d30786f75e393ee63a21de4f9074d4c038d52c5b1bb4471f955db249f9dffb1"
+dependencies = [
+ "endi",
+ "enumflags2",
+ "serde",
+ "url",
+ "winnow",
+ "zvariant_derive 5.5.3",
+ "zvariant_utils 3.2.0",
+]
+
+[[package]]
+name = "zvariant_derive"
+version = "4.2.0"
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+checksum = "73e2ba546bda683a90652bac4a279bc146adad1386f25379cf73200d2002c449"
+dependencies = [
+ "proc-macro-crate",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.100",
+ "zvariant_utils 2.1.0",
+]
+
+[[package]]
+name = "zvariant_derive"
+version = "5.5.3"
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+checksum = "75fda702cd42d735ccd48117b1630432219c0e9616bf6cb0f8350844ee4d9580"
+dependencies = [
+ "proc-macro-crate",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.100",
+ "zvariant_utils 3.2.0",
+]
+
+[[package]]
+name = "zvariant_utils"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c51bcff7cc3dbb5055396bcf774748c3dab426b4b8659046963523cee4808340"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.100",
+]
+
+[[package]]
+name = "zvariant_utils"
+version = "3.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e16edfee43e5d7b553b77872d99bc36afdda75c223ca7ad5e3fbecd82ca5fc34"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "serde",
+ "static_assertions",
+ "syn 2.0.100",
+ "winnow",
+]
diff --git a/mcap_tools/src/lib.rs b/mcap_tools/src/lib.rs
index 3a70296..df1e3a9 100644
--- a/mcap_tools/src/lib.rs
+++ b/mcap_tools/src/lib.rs
@@ -8,6 +8,33 @@ use std::fs::File;
 use std::io::BufWriter;
 use tokio::sync::broadcast;
 
+/*
+pub fn mcap_message_to_ros<T>(message: &mcap::Message) -> Result<Option<(T, &str)>, anyhow::Error> {
+    let message = message?;
+    let schema_name = &message
+        .channel
+        .schema
+        .clone()
+        .ok_or(anyhow::anyhow!("bad schema"))?
+        .name;
+    if schema_name.ne(T::ROS_TYPE_NAME) {
+        return None;
+    }
+    let topic = &message.channel.topic;
+
+    let msg_with_header = roslibrust_util::get_message_data_with_header(message.data);
+    let msg = serde_rosmsg::from_slice::<CompressedImage>(&msg_with_header).unwrap();
+    Some(msg, topic)
+}
+*/
+
+pub fn raw_message_to_ros<T: RosMessageType>(
+    data: std::borrow::Cow<'_, [u8]>,
+) -> Result<T, serde_rosmsg::Error> {
+    let msg_with_header = roslibrust_util::get_message_data_with_header(data);
+    serde_rosmsg::from_slice::<T>(&msg_with_header)
+}
+
 pub fn mcap_write<T: RosMessageType>(
     mcap_out: &mut mcap::Writer<BufWriter<File>>,
     msg: &T,
diff --git a/mcap_view/Cargo.toml b/mcap_view/Cargo.toml
index d777919..fd86ab6 100644
--- a/mcap_view/Cargo.toml
+++ b/mcap_view/Cargo.toml
@@ -5,15 +5,18 @@ edition.workspace = true
 
 [dependencies]
 anyhow.workspace = true
+camino.workspace = true
 log.workspace = true
 mcap.workspace = true
 mcap_tools = { version = "0.5.0", path = "../mcap_tools" }
 minifb = "0.28.0"
 opencv = "0.94.4"
+rerun = "0.23.3"
 roslibrust.workspace = true
 roslibrust_util.workspace = true
 serde_rosmsg.workspace = true
 simple_logger.workspace = true
+tf_roslibrust.workspace = true
 
 [[bin]]
 name = "mcap_view"
@@ -22,3 +25,7 @@ path = "src/bin/mcap_view.rs"
 [[bin]]
 name = "mcap_image_to_compressed"
 path = "src/bin/image_to_compressed.rs"
+
+[[bin]]
+name = "mcap_to_rerun"
+path = "src/bin/mcap_to_rerun.rs"
diff --git a/mcap_view/src/bin/mcap_to_rerun.rs b/mcap_view/src/bin/mcap_to_rerun.rs
new file mode 100644
index 0000000..b131832
--- /dev/null
+++ b/mcap_view/src/bin/mcap_to_rerun.rs
@@ -0,0 +1,158 @@
+/*!
+load mcaps with an Odometry topic and visualize in rerun.io
+
+adapted from github.com/lucasw/ros_one2z/mcap_to_rerun
+*/
+
+use anyhow::Result;
+use rerun::external::glam;
+use roslibrust_util::{nav_msgs, sensor_msgs};
+use std::env;
+use tf_roslibrust::tf_util::stamp_to_f64;
+
+/*
+fn print_type_of<T>(_: &T) -> String {
+    format!("{}", std::any::type_name::<T>())
+}
+*/
+
+fn mcap_to_rerun(
+    rec: &rerun::RecordingStream,
+    mcap_file_name: &str,
+    odom_topic: &String,
+    image_topic: &String,
+    ind: u32,
+) -> Result<(), Box<dyn std::error::Error>> {
+    // dbg!(path);
+
+    let mapped = roslibrust_util::map_mcap(mcap_file_name)?;
+
+    let mut points = Vec::new();
+    let mut count = 0;
+    let mut image_count = 0;
+    let mut timestamp = 0.0;
+
+    for message_raw in mcap::MessageStream::new(&mapped)? {
+        // println!("{:?}", print_type_of(&message));
+        match message_raw {
+            Ok(message) => {
+                if message.channel.topic == *image_topic {
+                    match mcap_tools::raw_message_to_ros::<sensor_msgs::CompressedImage>(
+                        message.data,
+                    ) {
+                        Ok(image_msg) => {
+                            if image_count % 120 == 0 {
+                                rec.set_timestamp_secs_since_epoch(
+                                    "sensor_time",
+                                    stamp_to_f64(&image_msg.header.stamp),
+                                );
+                                let img = rerun::EncodedImage::from_file_contents(image_msg.data);
+                                // rec.log(message.channel.topic.clone(), &img)?;
+                                rec.log("image", &img)?;
+                            }
+                            image_count += 1;
+                        }
+                        Err(e) => {
+                            println!("{:?}", e);
+                        }
+                    }
+                } else if message.channel.topic == *odom_topic {
+                    // message.channel.schema == "nav_msgs/Odometry"
+                    // println!("{:?}", message.channel.schema);
+
+                    // https://github.com/adnanademovic/serde_rosmsg/blob/master/src/lib.rs#L9
+
+                    /*
+                    {
+                        let mut test_msg = marti_common_msgs::Float32Stamped::default();
+                        test_msg.header.seq = 3;
+                        test_msg.header.frame_id = "test".to_string();
+                        test_msg.header.stamp.secs = 1;
+                        test_msg.header.stamp.nsecs = 7;
+                        test_msg.value = 1.0;
+                        let test_data = serde_rosmsg::to_vec(&test_msg).unwrap();
+                        println!("test {} - {:02x?}", test_data.len(), &test_data[..]);
+                        println!("mcap {} - {:02x?}", msg_with_header_vec.len(), &msg_with_header_vec[..]);
+                    }
+                    match serde_rosmsg::from_slice::<marti_common_msgs::Float32Stamped>(&msg_with_header) {
+                    */
+
+                    match mcap_tools::raw_message_to_ros::<nav_msgs::Odometry>(message.data) {
+                        Ok(odom_msg) => {
+                            // println!("{:#?}", odom_msg);
+                            let pos = &odom_msg.pose.pose.position;
+                            timestamp = stamp_to_f64(&odom_msg.header.stamp);
+                            // TODO(lucasw) get min and max of xyz
+                            if count % 100 == 0 {
+                                let point = glam::vec3(pos.x as f32, pos.y as f32, pos.z as f32);
+                                points.push(point);
+                            }
+
+                            count += 1;
+                        }
+                        Err(e) => {
+                            println!("{:?}", e);
+                        }
+                    }
+                }
+            }
+            Err(e) => {
+                println!("{:?}", e);
+            }
+        } // message_raw
+    }
+
+    println!("{} -> {} points extracted", count, points.len());
+
+    let points_vec = vec![points];
+
+    rec.set_timestamp_secs_since_epoch("sensor_time", timestamp);
+    /*
+    // this will move with the timeline
+    rec.log(
+        format!("{odom_topic}/position"),
+        &rerun::LineStrips3D::new(points_vec.clone())
+            .with_colors([rerun::Color::from([128, 128, 128, 255])]),
+    )?;
+    */
+
+    // this will be persistent
+    // let filename = path.file_stem().unwrap().to_string_lossy();
+    let name = mcap_file_name.replace("/", "_");
+    rec.log(
+        format!("{odom_topic}/position/{name}"),
+        &rerun::LineStrips3D::new(points_vec).with_colors([rerun::Color::from([
+            180,
+            ((ind * 5) % 256) as u8,
+            (ind % 256) as u8,
+            255,
+        ])]),
+    )?;
+
+    Ok(())
+}
+
+fn main() -> Result<(), Box<dyn std::error::Error>> {
+    let rec = rerun::RecordingStreamBuilder::new("bag_odom_to_rerun").spawn()?;
+
+    let args: Vec<String> = env::args().collect();
+
+    let path = &args[1];
+    let odom_topic = &args[2];
+    let image_topic = &args[3];
+
+    // dbg!(args);
+    dbg!(path);
+    dbg!(odom_topic);
+    dbg!(image_topic);
+
+    // let entry = entry?;
+    match mcap_to_rerun(&rec, path, odom_topic, image_topic, 0) {
+        Ok(()) => {}
+        Err(e) => {
+            println!("{:?}", e);
+        }
+    }
+
+    Ok(())
+}