bagel

<p align="center"> <picture> <source media="(prefers-color-scheme: dark)" srcset="./doc/assets/bagel_logo_dark_mode.png"> <img src="./doc/assets/bagel_logo_light_mode.png" width="400"> </picture> </p> <h1 align="center"> <a href="https://github.com/shouhengyi/bagel/blob/stage/LICENSE"> <img alt="Apache" src="https://img.shields.io/badge/license-Apache-blue.svg"> </a> <a href="https://discord.gg/QJDwuDGJsH"> <img alt="Rerun Discord" src="https://img.shields.io/discord/1392632504908906506?label=Discord"> </a> </h1> --- Bagel lets you chat with your robotics data. For example, you can ask Bagel to check a PX4 drone's IMU data for hard landings: <p align="center"> <picture> <img src="./doc/assets/prompt_hard_landing.gif" width="90%"> </picture> </p> Bagel can also propose fixes for detected errors in your robot: <p align="center"> <picture> <img src="./doc/assets/prompt_find_errors.gif" width="90%"> </picture> </p> Bagel works with a wide range of common robotics and sensor log formats out of the box. Don't see your format? [Open a ticket](https://github.com/shouhengyi/bagel/issues). | Format | | ------------------------------ | | ✅ **ROS 2** (`.mcap`, `.db3`) | | ✅ **ROS 1** (`.bag`) | | ✅ **PX4** (`.ulg`) | Don't forget to join our [Discord server](https://discord.gg/QJDwuDGJsH)! ## Quickstart We are using ROS2 Kilted and Claude Code as example. ```sh source /opt/ros/kilted/setup.sh # Source ROS2 dependencies uv sync --group ros2 # Install PyPI packages uv run main.py up mcp # Start Bagel MCP server ``` Open another terminal and run: ```sh # Add Bagel MCP server to Claude Code claude mcp add --transport sse bagel http://localhost:8000/sse # Launch Claude Code claude # Happy prompting > Summarize the metadata of robolog "./doc/tutorials/data/ros2". ``` The Bagel MCP server is **not exclusively tied to Claude**. You're free to integrate your preferred LLMs with Bagel. ### Tutorials - [MCP Tutorial - Claude Code](./doc/tutorials/mcp/0_claude_code_px4.ipynb) - [MCP Tutorial - Gemini CLI](./doc/tutorials/mcp/1_gemini_cli_ros2.ipynb) - [Build a Data Pipeline from a PX4 ULog](./doc/tutorials/pipelines/0_basics.ipynb) - [Read Topic Messages from a ROS 2 Bag](./doc/tutorials/readers/1_read_by_topic.ipynb) ### Running in Docker 🐳 To run Bagel without installing local dependencies like ROS, you can use our provided Docker images. Make sure you have [Docker Desktop](https://docs.docker.com/desktop/) installed. This example uses ROS 2 Kilted. #### Mount Your Data First, give the container access to your robolog files. Open the [compose.yaml](./compose.yaml) file and find the service you want to use (e.g., ros2-kilted). Edit the volumes section to link your local data folder to the container's data folder. ```yaml services: ros2-kilted: ... # volumes: <-- ✅ Uncomment # - <path-to-local-data>:/home/ubuntu/data <-- ✅ Uncomment & Replace ``` Your local robolog files will be accessible inside the container at `/home/ubuntu/data`. #### Launch the MCP Server Build and start the Bagel MCP server in a container with this command. ```sh docker compose run --build --service-ports ros2-kilted uv run main.py up mcp ```