MCAP

MCAP is a modular container format and logging library for pub/sub messages with arbitrary message serialization. It is primarily intended for use in robotics applications, and works well under various workloads, resource constraints, and durability requirements.

Documentation

• File format specification
  • Kaitai Struct definition
• Motivation
• Support Matrix

Developer quick start

MCAP libraries are provided in the following languages. For guidance on each language, see its corresponding README:

Language	Readme	API docs	Package name	Version
C++	readme	API docs	mcap
Go	readme	API docs		see releases
Python	readme	API docs	mcap
JavaScript/TypeScript	readme	API docs	@mcap/core
Swift	readme	API docs		see releases
Rust	readme	API docs	mcap

To run the conformance tests, you will need to use Git LFS, which is used to store the test logs under tests/conformance/data.

CLI tool

A CLI tool for interacting with the format is available here.

License

MIT License. Contributors are required to accept the Contributor License Agreement.