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 59 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
• 59 built-in type mappings across std_msgs, sensor_msgs, geometry_msgs, nav_msgs, geographic_msgs, vision_msgs, visualization_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
viewer	Rewire viewer based on Rerun API for bridge introspection
extras	Shared Rerun archetypes and types for the Rewire ecosystem
docker	Docker images for Rewire

Examples

Repository	Description
turtlebot3-example	TurtleBot3 simulation visualized in Rerun
camera-example	ROS 2 camera/image streaming to Rerun
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.