Container Formats
| Format | Extension | Status |
|---|---|---|
| MCAP | .mcap | Full support |
| ROS 1 Bag | .bag | Full support |
| ROS 2 Bag | .db3 | Full support |
Message Formats
Images
| Format | Schema | Notes |
|---|---|---|
| sensor_msgs/Image | ROS | Raw images |
| sensor_msgs/CompressedImage | ROS | JPEG, PNG |
| foxglove.RawImage | Foxglove | Raw images |
| foxglove.CompressedImage | Foxglove | Compressed |
Point Clouds
| Format | Schema | Notes |
|---|---|---|
| sensor_msgs/PointCloud2 | ROS | Standard format |
| foxglove.PointCloud | Foxglove | Indexed points |
Transforms
| Format | Schema | Notes |
|---|---|---|
| tf2_msgs/TFMessage | ROS | Transform tree |
| geometry_msgs/TransformStamped | ROS | Single transform |
| foxglove.FrameTransform | Foxglove | Single transform |
Other Sensors
| Format | Schema | Notes |
|---|---|---|
| sensor_msgs/Imu | ROS | Accelerometer + Gyro |
| sensor_msgs/NavSatFix | ROS | GPS |
| sensor_msgs/LaserScan | ROS | 2D LiDAR |
| radar_msgs/RadarScan | ROS | Radar returns |
Custom Schemas
Define custom schemas using:- Protobuf (
.proto) - JSON Schema
- ROS message definitions (
.msg)