ROS 2

Marina integrates seamlessly with the ROS 2 toolchain by extending the ros2 bag CLI with push, pull etc.

Binaries

Pre-built ROS packages are available through the UOS Robotics PPA.

After setting up the PPA, install the package for your ROS distribution:

# Jazzy
sudo apt install ros-jazzy-marina

# Humble
sudo apt install ros-humble-marina

Source

You can also build Marina as a ROS 2 package from source using colcon.

You will need a modern Rust compiler (1.85 or newer). Install it via rustup:

curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh

Then clone the Marina repository into your ROS workspace and build:

cd ~/ros2_ws/src
git clone https://codeberg.org/stelzo/marina.git
cd ..

rosdep install --from-paths src -y --ignore-src

colcon build --packages-select marina
source install/local_setup.bash

Higher Disk Space Requirement

Building from source generates incremental Rust compilation artifacts. We recommend using the binary package from the PPA wherever possible.

CLI Renaming

Once installed and sourced, all Marina commands are available under ros2 bag.

Some examples:

# pull existing bag
ros2 bag pull dlg_feldtage_24:cut

# record directly to local cache
ros2 bag record -o $(ros2 bag import my-dataset:v1) --all

list → datasets

ros2 bag list is already taken by the ROS toolchain and lists available storage plugins. Marina's list command is exposed as ros2 bag datasets (alias: ros2 bag ds) within the ROS CLI extension.

ros2 bag datasets --remote
ros2 bag ds --remote --registry osnabotics-public