Beta · Rust · Apache-2.0

The open data plane for robotics.

Capture. Transform. Buffer. Replay.

Thadam records robotic and industrial telemetry in a local durable log before it acknowledges the source. It then normalizes the data and delivers it to Parquet, S3-compatible object storage, and analytical databases.

Get started GitHub

Multi-protocol capture
Commit before acknowledging
Per-sink transform chains
Replay from the local log
Open source, Apache-2.0

How it works

Accepted messages are committed to one local log. Each sink reads that log through its own chain, so a slow or failed sink is isolated from the others (see ADR-0003).

01 · Capture

MQTTPersistent sessions, ack after WAL commitAvailable
ROS 2 recordingsMCAP, offlineAvailable
ROS 2 liveExperimental, opt-in ros2-live build featureAvailable
HTTPAvailable
gRPCAvailable
Modbus TCPAvailable
SocketCANLinux onlyAvailable
OPC UAOpt-in opcua build featureAvailable

02 · Durable

Write-ahead log Committed before ack; the log is the source of truth

03 · Process

Per-sink chains Decode and transform, one chain per sink

04 · Deliver

P0Local Parquet segmentsAvailable
P0S3-compatible object storageAvailableChaos verification pending
P1ClickHouseAvailableOutside the core v0.1 reliability gate
P2IcebergAvailableExperimental, opt-in iceberg build feature
P2Managed destinationsPlanned
Apache KafkaAvailable
NATS JetStreamAvailable
MQTT publishAvailable

The log is the source of truth. Each sink reads it independently.

Status

Thadam is in beta. Nothing is published to a package registry, and there are no release binaries yet. Available means implemented in this repository. In progress means being built. Planned means not started. The readiness tracker records how far each part has been verified.

Sources and sinks
Kind	Component	Status
Source	MQTT, with persistent sessions and acknowledgement after WAL commit	Available
Source	ROS 2 offline recordings (MCAP)	Available
Source	HTTP, gRPC, Modbus TCP, SocketCAN	Available SocketCAN is Linux only
Source	OPC UA, behind the opt-in `opcua` build feature	Available
Source	Live ROS 2 transport (rmw_zenoh)	Available experimental, opt-in `ros2-live` build feature
Sink (P0)	Local Parquet segments	Available
Sink (P0)	S3-compatible object storage	Available chaos verification pending
Sink (P1)	ClickHouse	Available outside the core v0.1 reliability gate
Sink (P2)	Iceberg, behind the opt-in `iceberg` build feature	Available experimental
Sink (P2)	Managed destinations	Planned
Sink	Apache Kafka, NATS JetStream, MQTT publish	Available

Build from source

The Rust toolchain is pinned by rust-toolchain.toml, and rustup installs it on first use. Linux x86_64 and ARM64 are the durability targets. macOS builds are for development and make no durability claims.

git clone https://github.com/Dineshkarthik/thadam.git
cd thadam
cargo build --release -p thadam
./target/release/thadam version

Next, follow your first pipeline.

Latest changes

Changes are recorded in the CHANGELOG. Design decisions are ADRs in docs/design/adr, and milestone progress is on the roadmap.

Delivery claims

Guarantees are stated per hop, and only where the claims register has evidence. Thadam does not claim exactly-once or zero-loss delivery end to end. Acknowledged data survives a process crash when fsync is enabled. For MQTT QoS 1 and 2, capture is at-least-once, with acknowledgement after WAL commit. The conditions for each claim are in delivery guarantees.