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The format is documented here: wiki/Bags/Format/2.0.

The format is documented here: wiki/Bags/Format/2.0.

Instead of writing something from scratch, you may want to look at something like ros/ros_comm/tools/rosbag_storage, which is the C++ library underlying the rosbag set of tools.

It does have some dependencies on other pieces of ROS, but those could potentially be removed.

The format is documented here: wiki/Bags/Format/2.0.

Instead of writing something from scratch, you may want to look at something like ros/ros_comm/tools/rosbag_storage, which is the C++ library underlying the rosbag set of tools.

It does have some dependencies on other pieces of ROS, but those could potentially be removed.

See also #q267309 for a previous Q&A about this topic.