High frequency log persistence on Jetson Orin (Rosbag alternative?)

ROS ROS General
1

Hi everyone,

My team has been working on a storage engine specifically optimized for the Jetson/Orin architecture to handle high bandwidth sensor streams (Lidar/Cameras) that tend to choke rosbag record or mcap writing at the edge.

The main architectural difference is that we bypass the kernel page cache and stream directly to NVMe using custom drivers. We are seeing sustained writes of ~1GB/s with <10us latency on Orin AGX, even ensuring persistence during power cuts (no RAM buffer loss).

We are looking for 3-5 teams running ROS 2 on hardware to test a binary adapter we wrote. It exposes a standard ROS 2 subscriber but pipes the data into our crash-proof storage instead of the standard recorder.

If you are hitting bottlenecks with dropped messages at high frequency or struggling with data corruption on power loss, this might solve it.

DM me or reply here and I can send over the binary for aarch64.

1 Like
2

Hi there, we are running a Jetson Thor and are indeed facing problems with the default rosbag recorder, due to both really big messages and a lot of ~1kHz messages. I would really be interested in trying your solution.

3

Fast DDS Native Recorder is faster because it records Native DDS Data without using ROS 2 upper layers, only the DDS API.

4

Thanks a lot for the interesting idea, but it probably won’t work with messages only sent between composable nodes using intra process comms, because the DDS layer is completely skipped there, right?