Record and replay synchronized multi-sensor robot sessions for debugging.
Visualize live ROS 2 topic data or replay existing rosbag2 recordings.
Package a recording with its layout and assets to share with a teammate.
Render occupancy grids and costmaps from navigation stacks with proper cost categories.
| flaminis/dalaran | halfrgrd/flyline | 514-labs/dnsglobe | |
|---|---|---|---|
| Stars | 941 | 952 | 910 |
| Language | Rust | Rust | Rust |
| Setup difficulty | moderate | moderate | easy |
| Complexity | 3/5 | 2/5 | 2/5 |
| Audience | developer | developer | ops devops |
Figures from each repo's GitHub metadata at analysis time.
Requires a working ROS 2 environment for live robot integration and a URDF model for advanced coordinate transform features.
Dalaran is a tool for robotics teams who need to record, replay, and visualize what their robots see and do. It handles many kinds of sensor data at once: ROS 2 message topics, LiDAR point clouds, camera images, IMU readings, and coordinate transforms. You log all of this from your robot, a simulator, or an offline data pipeline, and Dalaran stores it on a shared timeline so every sensor stays in sync when you replay it. The software is built in Rust and offers SDKs for Python, Rust, and C++. Installing the Python package gives you the viewer application as well. The viewer can open saved recordings, display a live stream from a running robot, or serve a web-based viewer over a network. Recordings are saved as .dlr files, and saved viewer layouts are .dbl files. A single command, dalaran doctor, checks your environment and reports problems in plain language, which helps when something in your setup is broken. Several features are aimed directly at robotics workflows. A high-level logging API knows about robot structure, so you can pass joint states and a URDF model and let it handle coordinate conversions for you. A ROS 2 bridge subscribes to live topics or replays rosbag2 recordings, and you can register custom message types without modifying the core software. There are helpers for standard axis conventions, because mismatched coordinate frames are a common source of broken visualizations. Occupancy grids and costmaps from common navigation stacks are rendered with their proper cost categories, not flattened into generic images. Dalaran can also read existing .rrd recordings produced by Rerun, the project it forked from, without any conversion step. The on-disk storage format is unchanged, so data loads directly. Saved viewer layouts from those older recordings may not fully resolve yet, though the data itself comes through. The project is Apache-2.0 licensed and designed to run entirely on your own machines, with no dependency on a hosted service. You can package a recording, its layout, referenced assets, and metadata into a single .dlrpack` file to hand to a colleague. The full README is longer than what was shown.
Dalaran is a free, self-hosted tool for robotics teams to record, replay, and visualize sensor data like camera images, LiDAR, and IMU readings all on a synchronized timeline.
Mainly Rust. The stack also includes Rust, Python, C++.
Free to use, modify, and distribute including for commercial purposes, with attribution, you must disclose modifications and cannot hold the authors liable.
Setup difficulty is rated moderate, with roughly 30min to a first successful run.
Mainly developer.
This repo across BitVibe Labs
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