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

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

Licensed under the Apache License, Version 2.0. Contributors are required to accept the Contributor License Agreement.