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http://answers.ros.org/question/216866/rosbag-record-a-in-c/ - my approach is kind of clunky to get running currently but once up and running has worked great.

Getting real stopping support would be great, there are some related efforts on https://github.com/ros/ros_comm : there is an issue to add pause support https://github.com/ros/ros_comm/issues/95 and https://github.com/ros/ros_comm/pull/737 is related.

http://answers.ros.org/question/216866/rosbag-record-a-in-c/ - my approach is kind of clunky to get running (and I don't have public code) currently but once up and running done has worked great.

Getting real stopping support would be great, there are some related efforts on https://github.com/ros/ros_comm : there is an issue to add pause support https://github.com/ros/ros_comm/issues/95 and https://github.com/ros/ros_comm/pull/737 is related.