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MCAP Stream Protocol

Robotics standard format - perfect for Foxglove Studio and robotics research.

Overview

MCAP (Modular Container for Arbitrary Protocols) provides: - ✅ Robotics standard format - ✅ Foxglove Studio compatible - ✅ Streaming MCAP files - ✅ Standardized metadata

Default Port

17500

Requirements

Python

pip install mcap

Quick Start

Python Server

import asyncio
from arvos.servers import MCAPStreamServer

async def main():
    server = MCAPStreamServer(
        host="0.0.0.0",
        port=17500,
        output_file="output.mcap"
    )

    server.on_imu = lambda data: print(f"IMU: {data}")
    await server.start()

asyncio.run(main())

iOS App

  1. Open ARVOS app
  2. Select MCAP Stream protocol
  3. Enter server IP and port 17500
  4. Connect!

Features

Standard Format

  • Robotics industry standard
  • Compatible with many tools
  • Well-documented format

Foxglove Studio

  • Direct playback in Foxglove
  • Rich visualization
  • Timeline navigation

Streaming

  • Real-time MCAP generation
  • No post-processing needed
  • Immediate playback

Use Cases

  • Robotics research
  • Foxglove Studio visualization
  • Standardized data collection
  • Tool compatibility

Advantages

  • ✅ Industry standard
  • ✅ Foxglove compatible
  • ✅ Rich metadata
  • ✅ Tool ecosystem

Limitations

  • ⚠️ Larger file sizes
  • ⚠️ More complex format
  • ⚠️ Requires MCAP tools

Example

See MCAP Example

Next Steps