MCAP Query
SQL query interface for MCAP robotics recordings using DuckDB, with support for JSON, Protobuf, ROS 1, ROS 2, and FlatBuffers encodings.
About
Decodes MCAP robotics recordings and loads them into an in-process DuckDB instance, exposing six tools for file discovery, schema inspection, data loading, and full SQL querying including ASOF JOIN for cross-sensor time correlation. Supports multiple encodings through a pluggable decoder system covering JSON, Protobuf, ROS 1, ROS 2, and FlatBuffers. Runs entirely in-process with no external database, ETL pipeline, or API keys required, and includes LRU memory management with a configurable memory cap for handling large recording sets.
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