Rewire

Drop-in ROS 2 bridge for Rerun — no ROS 2 runtime or build required.

Stream live ROS 2 topics to the Rerun viewer for real-time visualization. Supports 54 built-in ROS 2 type mappings out of the box, with extensibility for custom messages.

Features

• Zero ROS 2 dependency — pure Rust, no colcon or ament needed
• Automatic DDS and Zenoh discovery
• 54 built-in type converters across std_msgs, sensor_msgs, geometry_msgs, nav_msgs, vision_msgs, tf2_msgs, and rcl_interfaces
• Custom message support via JSON5 mappings
• Real-time diagnostics (hz, bytes/sec, drops, latency)
• Topic filtering with glob patterns

Install

See the documentation for installation instructions and usage.

Related Repositories

Repository	Description
rewire-viewer	Rewire viewer based on Rerun API for bridge introspection
rewire-extras	Shared Rerun archetypes and types for the Rewire ecosystem
rewire-docker	Docker images for Rewire

Examples

Repository	Description
rewire-turtlebot3-example	TurtleBot3 simulation visualized in Rerun
rewire-camera-example	ROS 2 camera/image streaming to Rerun
rewire-custom-mappings-example	Custom message mapping with JSON5

Community

This repository hosts discussions and issues for rewire. Bug reports, feature requests, and questions are welcome.