See https://unix.stackexchange.com/questions/19494/how-to-colorize-text-in-emacs
For example: put the following in your emacs init file:
(define-derived-mode fundamental-ansi-mode fundamental-mode "fundamental ansi"
"Fundamental mode that understands ansi colors."
(require 'ansi-color)
(ansi-color-apply-on-region (point-min) (point-max)))
then run M-x fundamental-ansi-mode
on the buffer with the escape sequences.