ROS 2 Record-and-Replay for the SO-101 Arm Using MCAP and Foxglove
kamathsblog · x · 2026-11-15
The author built a ROS 2 record-and-replay workflow for SO-101, an open-source 5-DoF robot arm: motions are recorded to MCAP ROS bags via hand-guiding or teleoperation, then played back through the same collision-checked path used by teleop.
- Part of an ongoing series replacing the standard LeRobot setup with ROS 2 + Foxglove.
- Since recordings are plain MCAP files, they open directly in Foxglove, where Comparison Mode overlays the same replay on the real arm and in mock mode.
- First published on the Foxglove blog with interactive data and a Try It Yourself section.
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