Kleinkram - A structured bag and mcap storage solution

Kleinkram is a structured bag and mcap file storage solution for ROS1 and ROS2. It is designed to be a simple and efficient way to store and retrieve bag and mcap files. Kleinkram is being developed by the Robotic Systems Lab (RSL) at ETH Zurich.

Features

• Simple: Kleinkram is designed to be simple to use and easy to understand.
• Efficient: Kleinkram is designed to be efficient in terms of storage and retrieval.
• Structured: Kleinkram is designed to be structured in terms of storage and retrieval.
• ROS1 and ROS2: Kleinkram is designed to work with both ROS1 and ROS2.

Getting Started

Consult the Getting Started guide for users or the Getting Started guide for developers.

Installation

Clone the repository:

git clone git@github.com:leggedrobotics/kleinkram.git
cd kleinkram

Install yarn dependencies:

yarn

Now you can run Kleinkram using docker compose

docker compose up

This will launch the frontend under http://localhost:8003, the minio console at http://localhost:9001, the documentation at http://localhost:4000 and the api at http://localhost:3000.

Documentation

You can read the documentation deployed by RSL at docs.datasets.leggedrobotics.com.