# Rewire Bridge

Drop-in ROS 2 bridge for Rerun. Stream live topics to the viewer in seconds —
no ROS 2 runtime required.

It is a single Rust binary that speaks DDS and Zenoh on the wire. It is not a
ROS 2 node and joins no ROS graph: nothing to source, nothing to rebuild, no
code to modify.

[Install](https://rewire.run/bridge#install) ·
[Documentation](https://docs.rewire.run) ·
[Releases](https://rewire.run/releases)

## Install

```
curl -fsSL https://rewire.run/install.sh | sh
```

macOS and Linux, x86_64 and aarch64. The script detects the host. Or:

```
pixi global install -c https://prefix.dev/rewire rewire
```

Debian and Ubuntu also have an APT repository. Windows is not supported yet.

Then:

```
rewire record -a
```

## What it does

- Built-in mappings for the ROS 2 types you already publish — images, point
  clouds, TF, poses, laser scans, odometry, and more
- Custom message mappings in JSON5, with no recompilation
- Automatic type resolution: standard definitions ship in the binary; custom
  types resolve over the wire on Jazzy and newer. `AMENT_PREFIX_PATH` is not
  involved. A sourced workspace is only needed to resolve URDF meshes
- Full TF tree, URDF from `/robot_description`, per-topic Hz / bandwidth /
  drops / latency
- Topic filtering with glob include and exclude
- WebSocket API for any client (JSON and CDR, ZSTD, optional auth)
- MCAP bag playback into a viewer or an `.rrd` file
- Runtime recording control over a loopback gRPC control plane (`rewire log`)

## What it is not

- Not a ROS 2 node, and not a replacement for one
- Not a hosted viewer — it streams to Rerun
- Not a multi-bridge coordinator. Run one instance per robot; they do not
  claim topics from each other

## Docs

- [Installation](https://docs.rewire.run/getting-started/installation)
- [Quick start](https://docs.rewire.run/getting-started/quick-start)
- [First run](https://docs.rewire.run/getting-started/first-run)
- [CLI reference](https://docs.rewire.run/cli-reference)
- [Supported types](https://docs.rewire.run/supported-types)
- [Custom mappings](https://docs.rewire.run/custom-mappings/overview)
- [WebSocket API](https://docs.rewire.run/websocket-api)
- [Full docs index](https://docs.rewire.run/llms.txt)