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How to Build a Robot Sensor Data Recording and Replay System

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A recording-and-replay system allows robotics developers to capture sensor streams, reproduce bugs, and test perception pipelines without requiring access to physical hardware. The system models each sensor — such as cameras, IMUs, and joint encoders — as independent timestamped streams stored under a shared session index. A key design principle is decoupling sensor callbacks from disk I/O using dedicated writer threads, preventing slow writes from disrupting the robot's control loop. Since different sensors operate at different rates, each stream is recorded at its native frequency and aligned only at query time using nearest-sample interpolation. By standardizing the replay interface to match live sensor inputs, developers can run the same perception or control code against either real-time data or recorded sessions, significantly accelerating development and regression testing.

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How to Build a Robot Sensor Data Recording and Replay System · ShortSingh