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.
We all know that debugging robotic applications can be challenging and, sometimes, frustrating. Robotic software is typically distributed, and analyzing the entire system requires considering how different components interact.
Combining logging with data visualization is the most effective approach for identifying software issues; if you’re a ROS developer, you likely already use this method with tools like rosbags in conjunction with RViz, PlotJuggler, and Foxglove.
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.
In our preliminary benchmarks, we observed that taking a ‘snapshot’ of 1000 variables adds a delay in the ‘hot loop’ as low as 10 microseconds. Importantly, this latency is deterministic, making DataTamer well-suited for real-time applications.
While it’s theoretically possible to implement a similar solution using a custom ROS message with multiple fields, this often introduces significant friction, leading developers to resort to the infamous ‘debug by printf’ method.
DataTamer features a versatile multi-sink architecture, enabling users to effortlessly integrate their custom ‘backend.’ A specialized sink may store the data in a timeseries database or publish it through alternative inter-process communication middleware, different from ROS/DDS.
To start visualizing the data recorded with DataTamer, download the latest PlotJuggler (version 3.8.3)
While DataTamer is still in beta, its API is mostly stable. Give it a try, and share your thoughts with us!
