Rockstar (Robust Overdensity Calculation using K-Space Topologically Adaptive Refinement) identifies dark matter halos, substructure, and tidal features. The approach is based on adaptive hierarchical refinement of friends-of-friends groups in six phase-space dimensions and one time dimension, which allows for robust (grid-independent, shape-independent, and noise-resilient) tracking of substructure. Our method is massively parallel (up to 10^5 CPUs) and runs on the largest current simulations (>10^10 particles) with high efficiency (10 CPU hours and 60 gigabytes of memory required per billion particles analyzed). Rockstar offers significant improvement in substructure recovery as compared to several other halo finders.