BAGEL — A browser based tool for exploring ROS bag files…

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About this project

BAGEL is an innovative web application that allows users to explore ROS bag files and point cloud scenes directly in their browser without any installation. Offering a rich visual interface and removing the necessity for complex setups, BAGEL makes file inspection straightforward for robotics engineers and researchers.

BAGEL: An Innovative Web Visualizer for ROS Bag Files

BAGEL, an acronym for BAG ExpLoration, is a static web application designed to facilitate the exploration of ROS bag files ([0m.mcap, .db3, .bag), standalone point cloud files ([0m.pcd, .ply), and 3D Gaussian Splat scenes ([0m.ply, .splat, .ksplat) directly in the web browser, eliminating the need for installation or server dependencies.

Key Features and Benefits

No Installation Required: Users can effortlessly drag and drop files into the browser, making it accessible without any complex setup.
Open-Source Solution: Unlike commercial alternatives such as Foxglove Studio, BAGEL is fully open-source and MIT licensed, ensuring that it remains free to use and share.
Rich Visual Interface: Provides a user-friendly, visually rich environment for inspecting bag files, complete with search and filtering capabilities, moving beyond the limitations of text-only outputs.
Convenient Sharing: Enables easy sharing of bag file content through sharable URLs, making collaboration straightforward.
Diverse Format Support: BAGEL supports multiple formats for ROS1 and ROS2 bag files and is capable of handling legacy .bag files without any conversion.

File Format Compatibility

BAGEL supports the following file formats and features:

ROS2 .mcap: Supports zstd-compressed chunks and Foxglove Studio JSON-encoded channels from version 1.6.1.
ROS2 .db3: Utilizes SQLite through sql.js/WASM.
ROS1 .bag: Supports both bz2 and lz4 compressed chunks.
Standalone Point Clouds: Both .pcd and .ply formats are supported, accommodating various color modes and encodings.
3D Gaussian Splat Scenes: Efficiently manages .splat and .ksplat files with a dedicated viewing panel.

Advanced Visualization Panels

BAGEL provides several visualization options:

TimeSeriesPlot: Allows charting of numeric leaf fields with customizable derived series expressions.
ThreeDScene: Supports visualization of various sensor messages, offering intuitive camera controls and layered spatial topic displays.
ImageViewer: Efficiently handles sensor images and videos with zoom and pan functionality.
TrajectoryPlot and TFTree: Visualizes odometry and TF frame hierarchies, respectively.

Streamlined Editing and Export Capabilities

BAGEL also includes functionalities such as:

Multi-bag Overlay: Handle multiple bags in a single session with distinct color tints.
URL Hash Sharing: Easily share layout and configuration states via generated URLs.
Export Options: Export panel views as PNG or WebM videos, and export CSV/NDJSON data from visuals.

Live Robot Data Interface

BAGEL enables real-time connections to live robotic setups using Foxglove WebSocket, allowing dynamic visualization of incoming data streams.

For further exploration and a live demo, visit the BAGEL demo page.

For an in-depth understanding of all features, check the detailed release notes available in FEATURES.md.

Overall, BAGEL aims to simplify the workflow of robotics engineers by providing a powerful yet user-friendly solution for inspecting and visualizing ROS bag files.