diff --git a/CMakeLists.txt b/CMakeLists.txt
index 40fee4d..9b6b3b6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -111,7 +111,8 @@ add_library(am_utils
   src/vb_util_lib/imu_class.cpp
   src/vb_util_lib/am_heartbeat.cpp
   src/vb_util_lib/vb_main.cpp
-  src/vb_util_lib/bag_logger.cpp)
+  src/vb_util_lib/bag_logger.cpp
+  src/vb_util_lib/csv_logger.cpp)
 
 target_link_libraries(am_utils ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} jsoncpp)
 
diff --git a/include/vb_util_lib/csv_logger.h b/include/vb_util_lib/csv_logger.h
new file mode 100644
index 0000000..7de465f
--- /dev/null
+++ b/include/vb_util_lib/csv_logger.h
@@ -0,0 +1,84 @@
+/*
+ * csv_logger.h
+ *
+ *  Created on: May 5, 2020
+ *      Author: ubuntu
+ */
+
+#ifndef CSV_LOGGER_H_
+#define CSV_LOGGER_H_
+
+#include <vector>
+#include <utility>
+#include <string>
+#include <sstream>
+#include <iostream>
+#include <fstream>
+#include <boost/filesystem.hpp>
+
+using namespace std;
+
+namespace am
+{
+class CSV_LOGGER
+{
+private:
+	std::string file_location_;
+public:
+	CSV_LOGGER(const std::string &fl, const vector<std::string> &col_header);
+
+	CSV_LOGGER(const std::string &fl, const std::string &header, char deliminator = ',');
+
+	CSV_LOGGER(const std::string &fl);
+
+	CSV_LOGGER();
+
+	virtual ~CSV_LOGGER();
+
+	void splitToVector(std::vector<std::string> &result, const std::string &header, char deliminator = ',');
+
+	//Insert Functions
+	void insert(const std::vector<std::string> &content);
+
+	void insert(const std::string &content, char deliminator = ',');
+
+
+	template <class T>
+	void insert(const T &t, char deliminator = ',', bool endOfLine = false)
+	{
+		if(!fileExists(file_location_))
+		{
+			std::cout << __func__ << ": File does not exist." << std::endl;
+			return;
+		}
+		std::ofstream of;
+		of.open(file_location_.c_str(), std::ofstream::out | std::ofstream::app);
+
+		std::stringstream ss;
+		ss << t;
+
+		if(endOfLine)
+		{
+			ss << "\n";
+		}
+		else
+		{
+			ss << ',';
+		}
+
+		of << ss.str();
+		of.close();
+
+	}
+
+	bool fileExists(const std::string &csv_file_name);
+
+	bool createFile(const std::string &csv_file_location);
+
+	bool createPath(const std::string &path);
+
+};
+}
+
+
+#endif /* CSV_LOGGER_H_ */
diff --git a/src/vb_util_lib/csv_logger.cpp b/src/vb_util_lib/csv_logger.cpp
new file mode 100644
index 0000000..dcad501
--- /dev/null
+++ b/src/vb_util_lib/csv_logger.cpp
@@ -0,0 +1,174 @@
+/*
+ * csv_logger.cpp
+ *
+ *  Created on: May 5, 2020
+ *      Author: ubuntu
+ */
+
+
+#include<vb_util_lib/csv_logger.h>
+#include<fstream>
+#include<iostream>
+#include<string>
+#include<boost/filesystem.hpp>
+
+namespace am
+{
+CSV_LOGGER::CSV_LOGGER()
+{
+}
+
+CSV_LOGGER::CSV_LOGGER(const std::string &fl, const vector<std::string> &col_header)
+{
+	file_location_ = fl;
+	bool fileStatus = fileExists(file_location_);
+	std::ofstream of;
+	of.open(file_location_.c_str(), std::ofstream::out | std::ofstream::app);
+	if(!fileStatus)
+	{
+		stringstream ss;
+		for(int i =0; i < col_header.size(); i++)
+		{
+			ss << col_header[i];
+			if(i < col_header.size() - 1) ss << ",";
+		}
+		ss << "\n";
+		of << ss.str();
+	}
+
+
+	of.close();
+}
+CSV_LOGGER::CSV_LOGGER(const std::string &fl)
+{
+	file_location_ = fl;
+	if(!fileExists(file_location_))
+	{
+		if(!createFile(fl))
+		{
+			std::cout << __func__ << ": File Creation Failed." << std::endl;
+		}
+	}
+}
+
+CSV_LOGGER::CSV_LOGGER(const std::string &fl, const std::string &header, char deliminator)
+{
+	//Parse the header with deliminator
+	std::vector<std::string> local_header;
+	splitToVector(local_header, header, deliminator);
+
+	file_location_ = fl;
+	bool fileStatus = fileExists(file_location_);
+	std::ofstream of;
+	of.open(file_location_.c_str(), std::ofstream::out | std::ofstream::app);
+	if(!fileStatus)
+	{
+		stringstream ss;
+		for(int i =0; i < local_header.size(); i++)
+		{
+			ss << local_header[i];
+			if(i < local_header.size() - 1) ss << ",";
+		}
+		ss << "\n";
+		of << ss.str();
+	}
+}
+
+CSV_LOGGER::~CSV_LOGGER()
+{
+
+}
+
+void CSV_LOGGER::splitToVector(std::vector<std::string> &result, const std::string &header, char deliminator)
+{
+	std::stringstream ss(header);
+	std::string token;
+	while (std::getline(ss, token, deliminator)) {
+		result.push_back(token);
+	}
+}
+
+bool CSV_LOGGER::fileExists(const std::string &csv_file_location)
+{
+	if (FILE *file = fopen(csv_file_location.c_str(), "r"))
+	{
+		fclose(file);
+		return true;
+	}
+	else
+	{
+		return false;
+	}
+}
+
+void CSV_LOGGER::insert(const std::string &content, char deliminator)
+{
+	//Parse the header with deliminator
+	std::vector<std::string> content_vect;
+	splitToVector(content_vect, content, deliminator);
+	insert(content_vect);
+}
+
+/*
+ *  insert function inserts a row into the given file
+ */
+void CSV_LOGGER::insert(const std::vector<std::string> &content)
+{
+	if(!fileExists(file_location_))
+	{
+		std::cout << __func__ << ": File does not exist." << std::endl;
+		return;
+	}
+
+	std::ofstream of;
+	of.open(file_location_.c_str(), std::ofstream::out | std::ofstream::app);
+
+	if(content.size() > 0)
+	{
+		std::stringstream ss;
+		for(int i =0; i < content.size(); i++)
+		{
+			ss << content[i];
+			if(i < content.size() - 1)
+			{
+				ss << ",";
+			}
+		}
+		ss << "\n";
+		of << ss.str();
+	}
+
+	of.close();
+
+}
+
+bool CSV_LOGGER::createFile(const std::string &csv_file_location)
+{
+	if(fileExists(csv_file_location))
+	{
+		std::cout << __func__ << ": File creation failed: File Exists Already." << std::endl;
+		return false;
+	}
+
+	std::ofstream of;
+	of.open(csv_file_location.c_str(), std::ios::out | std::ios::app);
+	if(!fileExists(csv_file_location))
+	{
+		of.close();
+		std::cout << __func__ << ": File creation failed: Something went wrong : " << csv_file_location << std::endl;
+		return false;
+	}
+
+	of.close();
+	return true;
+}
+
+
+bool CSV_LOGGER::createPath(const std::string &path)
+{
+	return boost::filesystem::create_directories(path);
+}
+
+}
+
+