Replay clips

Short MCAP recordings of ROS 2 bags behind the project showcase. Download one to open it on your own machine. The clock-sync clip is a byte-identical copy of the one in the showcase repository; the localizer, field EKF and whole-body clips are rebuilt from the same windows with extra scene topics for the viewer, each with its own Foxglove layout.

Foxglove buttons open the clip in a browser viewer.

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Localizer, shop session

Open in Foxglove

20 s of the AprilTag localizer at work in a shop session: its input (the Odin camera’s fisheye frames, every second frame) and its outputs (the debug view, the camera pose with its covariance, each tag solved alone, and every detection). 29,272 messages. Rebuilt with field and tag scene topics for the viewer, including a derived /viz/fix_points display topic.

File: localizer-shop-20s.mcap, 15.7 MB
Source: bag 20260814-161602, 2.0 s to 22.0 s
Module: perception-sqpnp in the showcase repository
Layout: Foxglove layout (JSON)

Download the replay (.mcap, 15.7 MB)

Field EKF, recorded match

Open in Foxglove

20 s of the field EKF during a match, the same 20 s as the match clip on the showcase page: the VIO odometry it predicts from (400 Hz), the tag fixes it corrects with, the field pose it outputs (400 Hz), and one record per fix. 28,042 messages. Rebuilt with field and tag scene topics for the viewer, including a derived /viz/fix_points display topic.

File: field-ekf-match-20s.mcap, 5.4 MB
Source: bag 20260905-134217, 66.8 s to 86.8 s
Module: state-estimation in the showcase repository
Layout: Foxglove layout (JSON)

Download the replay (.mcap, 5.4 MB)

Whole-body cycle

Open in Foxglove

One full DRIVE, APPROACH, TASK, RETRACT, DRIVE cycle on the field, with about 3.5 s of DRIVE before and after it: joint targets, measured joints, the operator’s goal and the phase. 19,953 messages. Rebuilt with field and arm scene topics for the viewer.

File: wholebody-cycle-10s.mcap, 1.2 MB
Source: bag 20260905-084025, 72.4 s to 82.4 s
Module: control/wholebody-2026 in the showcase repository
Layout: Foxglove layout (JSON)

Download the replay (.mcap, 1.2 MB)

UDP bridge clock sync

Open in Foxglove

The bridge’s clock estimate through a whole match: all 308 messages of its clock topic, each holding the offset, round trip, age and a valid flag.

File: clock-sync-154s.mcap, 18 KB
Source: bag 20260905-134217, its full 154 s
Module: udp-bridge in the showcase repository
Layout: No layout file; panel suggestions are in the module’s README in the showcase repository.

Download the replay (.mcap, 18 KB)

Odin camera SLAM point cloud

Open in Foxglove

The first 15 s of a recorded shop bag: the point cloud (every second message), odometry, transforms and localizer fixes; no camera. 1,384 messages. The point cloud is the Odin camera driver’s own output, not my work.

File: odin-cloud-slam-15s.mcap, 22.5 MB
Source: bag 20260801-151119, 0.0 s to 15.0 s
Module: hosted only here; details in its README
Layout: Foxglove layout (JSON)

Download the replay (.mcap, 22.5 MB)

Back to the showcase