I'm working on one right now, no public code yet - http://basisrobotics.tech http://basisrobotics.tech (well, we - myself and cofounder) It's serialization ind

I'm working on one right now, no public code yet - http://basisrobotics.tech http://basisrobotics.tech (well, we - myself and cofounder) It's serialization independent (integrating a new serializer is super easy, you can even use ROS messages if you have a lot of legacy code to migrate), works with regular old CMake, and provides a framework to run deterministic replay/simulation against. Hoping to put up a Show HN myself in a few weeks - need a few more pieces in place first - I have the foundation of the replay system written, but it's not all there, yet. (Hi Christian!, Kyle here)