diff --git a/src/csv_creator2.py b/src/csv_creator2.py
new file mode 100644
index 0000000..607dbc6
--- /dev/null
+++ b/src/csv_creator2.py
@@ -0,0 +1,125 @@
+#! /usr/bin/env python
+# coding=utf-8
+
+import rospy
+from gtec_msgs.msg import Ranging
+from nav_msgs.msg import Odometry
+from sensor_msgs.msg import Imu
+from tf.transformations import euler_from_quaternion
+from visualization_msgs.msg import MarkerArray
+
+from ukf.datapoint import DataType
+
+
+class Recorder(object):
+    def __init__(self, out="out.csv"):
+        self.data = []
+        self.out = out
+
+        self.anchor_poses = dict()
+
+        self.tag_offset = {
+            1: [0, 0.162, 0.184],
+            0: [0, -0.162, 0.184],
+
+            3: [0, 0.162, 0.184],
+            2: [0, -0.162, 0.184]
+        }
+
+        anchors = '/gtec/toa/anchors'
+        toa_ranging = '/gtec/toa/ranging'
+
+        self.anchors_sub = rospy.Subscriber(anchors, MarkerArray, callback=self.add_anchors)
+        ranging_sub = rospy.Subscriber(toa_ranging, Ranging, callback=self.add_ranging)
+
+        id = 2
+
+        odometry = '/Jackal{}/odometry/filtered'.format(id)
+        odometry = rospy.Subscriber(odometry, Odometry, callback=self.create_odometry_callback(DataType.ODOMETRY))
+
+        odometry = '/Jackal{}/uwb/odom'.format(id)
+        odometry = rospy.Subscriber(odometry, Odometry, callback=self.create_odometry_callback(DataType.ODOMETRY))
+
+        odometry = '/Jackal{}/ground_truth/state'.format(id)
+        odometry = rospy.Subscriber(odometry, Odometry, callback=self.create_odometry_callback(DataType.GROUND_TRUTH))
+
+        imu = '/Jackal{}/imu/data'.format(id)
+        imu = rospy.Subscriber(imu, Imu, callback=self.add_imu)
+
+        print("Ready")
+
+    def add_imu(self, msg):
+        # type: (Imu) -> None
+        t = self.get_time()
+
+        orien = msg.orientation
+        ang_vel = msg.angular_velocity
+        lin_acc = msg.linear_acceleration
+
+        self.data.append((DataType.IMU, t, orien.x, orien.y, orien.z, orien.w, ang_vel.x, ang_vel.y, ang_vel.z,
+                          lin_acc.x, lin_acc.y, lin_acc.z))
+
+    def create_odometry_callback(self, id):
+
+        def add_odometry(msg):
+            t = self.get_time()
+
+            px = msg.pose.pose.position.x
+            py = msg.pose.pose.position.y
+            pz = msg.pose.pose.position.z
+
+            v = msg.twist.twist.linear.x
+            theta = euler_from_quaternion((
+                msg.pose.pose.orientation.x,
+                msg.pose.pose.orientation.y,
+                msg.pose.pose.orientation.z,
+                msg.pose.pose.orientation.w
+            ))[2]
+
+            theta_yaw = msg.twist.twist.angular.z
+
+            self.data.append((id, t, px, py, pz, v, theta, theta_yaw, msg.pose.pose.orientation.x,
+                              msg.pose.pose.orientation.y,
+                              msg.pose.pose.orientation.z,
+                              msg.pose.pose.orientation.w))
+
+        return add_odometry
+
+    def add_anchors(self, msg):
+        # type: (MarkerArray) -> None
+
+        for marker in msg.markers:
+            self.anchor_poses[marker.id] = [marker.pose.position.x, marker.pose.position.y, marker.pose.position.z]
+
+    def get_time(self):
+        return rospy.Time.now().to_nsec()
+
+    def add_ranging(self, msg):
+        # type: (Ranging) -> None
+        t = self.get_time()
+
+        if msg.anchorId in self.anchor_poses:
+            anchor_pose = self.anchor_poses[msg.anchorId]
+            anchor_distance = msg.range / 1000.
+
+            tag = self.tag_offset[msg.tagId]
+
+            self.data.append((DataType.UWB, t, anchor_distance,
+                              anchor_pose[0], anchor_pose[1], anchor_pose[2],
+                              tag[0], tag[1], tag[2]))
+
+    def save(self):
+        print("Saving", len(self.data), "datapoints")
+
+        with open(self.out, "w") as file:
+            file.writelines(",".join(map(str, d)) + '\n' for d in self.data)
+
+
+if __name__ == "__main__":
+    rospy.init_node("csv_recorder2", anonymous=True)
+
+    rec = Recorder()
+
+    rospy.spin()
+
+    rec.save()