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It's not safety-rated, but ros/rosbag_snapshot seems like it would cover your use-case:

Solution for this ros_comm issue which acts similarly to the deprecated rosrecord -s command but with additional features. It is added as a new package here rather than patching rosbag based on the discussion here.

It subscribes to topics and maintains a buffer of recent messages like a dash cam. This is useful in live testing where unexpected events can occur which would be useful to have data on but the opportunity is missed if rosbag record was not running (disk space limits make always running rosbag record impracticable). Instead, users may run snapshot in the background and save data from the recent past to disk as needed.

Note: rosbag_snapshot has been released into both Kinetic and Melodic, so no need to build it from source (sudo apt install ros-melodic-rosbag-snapshot should work on supported platforms).

It's not safety-rated, but ros/rosbag_snapshot seems like it would cover your use-case:

Solution for this ros_comm issue which acts similarly to the deprecated rosrecord -s command but with additional features. It is added as a new package here rather than patching rosbag based on the discussion here.

It subscribes to topics and maintains a buffer of recent messages like a dash cam. This is useful in live testing where unexpected events can occur which would be useful to have data on but the opportunity is missed if rosbag record was not running (disk space limits make always running rosbag record impracticable). Instead, users may run snapshot in the background and save data from the recent past to disk as needed.

Note: rosbag_snapshot has been released into both Kinetic Kinetic, Melodic and Melodic, Noetic, so no need to build it from source (sudo apt install ros-melodic-rosbag-snapshot should work on supported platforms).

It's not safety-rated, but ros/rosbag_snapshot seems like it would cover your use-case:

Solution for this ros_comm issue which acts similarly to the deprecated rosrecord -s command but with additional features. It is added as a new package here rather than patching rosbag based on the discussion here.

It subscribes to topics and maintains a buffer of recent messages like a dash cam. This is useful in live testing where unexpected events can occur which would be useful to have data on but the opportunity is missed if rosbag record was not running (disk space limits make always running rosbag record impracticable). Instead, users may run snapshot in the background and save data from the recent past to disk as needed.

Note: rosbag_snapshot has been released into both Kinetic, Melodic and Noetic, so no need to build it from source (sudo apt install ros-melodic-rosbag-snapshotros-*-rosbag-snapshot should work on supported platforms).