Quick Start
Stream your first ROS 2 topics to Rerun in under a minute.
With a ROS 2 system running, pick the workflow that matches what you want to do:
Stream every discovered topic and launch the Rewire Viewer:
rewire recordOnly subscribe to a curated list of topics:
rewire record --topics /camera/image /scan /tfSubscribe to everything except matching glob patterns:
rewire record --exclude "/diagnostics/*" "/rosout" "/parameter_events"Connect to a Rerun viewer running on another machine:
rewire record --connect 192.168.1.100:9876Save the session to an .rrd file for later playback:
rewire record --save recordingThe --save flag takes a filename stem, and Rewire completes it with the recording ID — the example
above writes recording_<recording_id>.rrd. Use --save-session to append every recording of the
run to a single file instead.
A save run also streams, so the viewer comes up and you can watch what you are capturing. Add
--no-live to write only the file — no viewer, no relay — for measurement runs and machines with no
display.
Point the live half at a specific address by combining --save with --connect. The local
archive keeps writing even if the relay or viewer restarts.
Run a standalone relay as a long-lived hub, then point bridges and viewers at it:
# Start the hub (e.g. on a robot or lab server)
rewire serve
# Stream to it from anywhere on the network
rewire record --connect relay-host:9876
# Check who's connected
rewire status --connect relay-hostMonitor per-topic Hz, bandwidth, drops, and latency:
rewire record --diagnosticsDiagnostics are logged as Rerun Scalars entities under /rewire/bridge/topics/{topic_name}/.