A custom Rerun viewer for ROS 2 visualization, built on top of Rerun v0.34.

Features

• Topics Panel — sortable table of subscribed ROS 2 topics with type, publisher count, and subscriber count
• Nodes Panel — sortable table of discovered ROS 2 nodes with transport info
• Status Bar — real-time connection status, bridge count, node count, topic count, and uptime
• gRPC API — info and heartbeat endpoints for bridge integration

Build

Requires Rust 1.82+.

cargo build --release

Or with pixi:

pixi run build
pixi run sanity   # check + fmt + lint + test

Run

cargo run --release

The viewer starts two servers:

Port	Protocol	Purpose
9876	gRPC	Rerun data stream (connect with --connect 127.0.0.1:9876)
9877	gRPC	Viewer API (proto)

License

Licensed under the Apache License, Version 2.0. See LICENSE for details.