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Introduction

Marina is a dataset manager for robotics built to organize, share, and discover bags and datasets across teams and storage backends.

# Pull a dataset from any configured registry...
ros2 bag pull dlg_feldtage_24:cut

# and pass it straight to playback
ros2 bag play $(ros2 bag resolve dlg_feldtage_24:cut)

# See available bags from configured remotes
ros2 bag datasets --remote
# or use the alias
ros2 bag ds --remote

# Pull a dataset from any configured registry
marina pull dlg_feldtage_24:cut

# Get and use the data from the local cache
cat $(marina resolve dlg_feldtage_24:cut)/metadata.yaml

# See available bags from configured remotes
marina list --remote
# or use the alias
marina ls --remote

Datasets are pulled from remote registries. You can easily create your own using SSH, Google Drive, HTTP or any filesystem folder.

# Record to local cache...
ros2 bag record --all -o $(ros2 bag import my_recording:session1)

# and push to your registry.
ros2 bag push my-run:v1 /path/to/bag/ --registry team_ssh

# Push any folder or bags to your registry.
marina bag push my-run:v1 /path/to/dataset/ --registry team_ssh

Compression

Marina automatically compresses bags when pushing and restores them on pull. PointCloud2 messages are compressed with millimeter accuracy by default using the embedded cloudini library.

Accuracy and compression are transparently marked but can also be changed or disabled at any time through configuration.

Get started by installing the CLI on your machine!