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Dalaran

  • Software
  • Middleware
  • Tool

Dalaran is an open-source, robotics-focused stack for logging, storing and visualizing multimodal time-series data such as ROS 2 topics, LiDAR, cameras, IMU and TF on one timeline.

Source on GitHub: github.com/Flaminis/Dalaran (opens in a new tab). Facts read at commit da14440 (opens in a new tab).

Licenses

Code
Apache-2.0 (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit da14440 (opens in a new tab), on 22 Oct 2026.

Commercial use
Yes

What it does

  • Logs data from robots, simulators or offline pipelines into an Arrow-backed columnar chunk store, with a viewer that stays in sync across sensors.
  • Offers Python, Rust and C++ SDKs, and a viewer that doubles as a CLI for opening .dlr recordings and serving a web viewer.
  • Provides a high-level robot logging API that handles joint states, base pose and URDF-driven link transforms, including joint limits, axes and mimic joints.
  • Includes a ROS 2 bridge and rosbag2/MCAP replay, with an extensible message registry for custom message types.
  • Adds ROS axis-convention helpers (REP-103/REP-105) and occupancy grid and nav2 costmap support on a grid archetype.
  • Can read existing .rrd recordings for container and chunk data, though some upstream blueprint layouts may not yet resolve; the API is still evolving.

Written by Robotheca from the project's README (opens in a new tab) at commit da14440.

Getting started

Difficulty
Intermediate

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
7 Aug 2026 on main
Latest release
None published on GitHub

Checked on GitHub on 22 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.