Record trajectory and using ov_eval with ROS2

[diplodocuslongus]

Hi,
I've managed to save the state by following this but can't figure out how to save a trajectory to a text file in ros2.

How can one record a trajectory in ROS2, and then how to use ov_eval for performance evaluation (ATE, ...)?

Related:
https://docs.openvins.com/eval-error.html#eval-ov-transform
#347

The record.launch file in src/open_vins/ov_eval/launch/record.launch doesn't seem to have a launch.py equivalent.
The subscribe.launch.py (for ros2) file doesn't seem to fully reproduce what the ros1 subscribe.launch does, in particular there is no node name="recorder_estimate" (the subscribe.launch* files are in install/ov_msckf/share/ov_msckf/launch/ ).

Thanks for any hint you may provide!