Architecture · Diagram Design
On-robot recording & cloud upload pipeline
INSAION on-robot recording pipeline
Architecture diagram showing ROS 2 topics recorded by the McapRecordingManager agent into ReductStore's rolling buffer on the robot, then uploaded on demand by CloudUploadManager to INSAION Cloud.
ON-ROBOT · EDGE
MCAP SLICES
QUERY · ON-DEMAND
S3 UPLOAD
MQTT
IN
ROS 2 Topics
camera · lidar · telemetry · ...
AGENT
McapRecordingManager
INSAION Agent · C++
– Per-pipeline filtering & downsampling
– MCAP slicing: time/size rotation
– zstd compression + CRC checksums
STORE
ReductStore
embedded · managed process
– bucket: rolling-buffer (FIFO, 1–5 GB)
– entry/pipeline · record/MCAP slice
– labels: recorder_uuid, duration_ns, custom
UPLOAD
CloudUploadManager
– Query slices: time range + recorder_uuid
– Upload to S3 via presigned URLs
– Signal completion; backend stitches chunks
MQTT
Alarm / Operator
on-demand trigger
CLOUD
INSAION Cloud
visualize · download · analyze
LEGEND
Focal / INSAION
Backend
Store
Input
On-demand
Recording flow
HTTPS / S3 upload
Async / on-demand