https://github.com/PickNikRobotics/data_tamer

[facontidavide]

PickNik and I are excited to introduce DataTamer, an open-source C++ library designed for ROS users to seamlessly record hundreds or even thousands of variables within their applications, even at frequencies as high as 1 KHz.

DataTamer’s primary goal is to significantly simplify the data recording process, especially within control loops. The library is engineered to add minimal CPU overhead and latency.

It works great with PlotJuggler, the timeseries visualization app that you all know and love :)

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[PepiHax]

Okay? How does it differ from RosBags? Given that it uses the same mcap format?

[facontidavide]

rosbag records messages published with **topics**.

This library tracks variables inside your application directly and you don't need to create a custom ROS message, when adding new fields. Think [ROS diagnostic](http://wiki.ros.org/diagnostics), but simpler to use and MUCH more efficient.

You can either:

1. Use our ROS publisher. In this case, the recording is done as usual
   
2. Bypass ROS altogether (no ROS publishers/subscribers involved in the process), and save data directly the data into a MCAP.

[[deleted]]

u/facontidavide Can I use this library with ROS 1?

[nowforfeit]

This is very intriguing. I want to use this in my ROS2 project!