diff --git a/mote_bringup/config/record.yaml b/mote_bringup/config/record.yaml
new file mode 100644
index 0000000..51f1701
--- /dev/null
+++ b/mote_bringup/config/record.yaml
@@ -0,0 +1,22 @@
+# Rosbag recording streams — consumed by record_launch.py.
+# Each stream writes to ~/.mote/bags/<name>/<timestamp>/ with its own segment
+# length and rolling disk cap (enforced by bag_pruner).
+
+streams:
+  lite:
+    topics:
+      - /tf
+      - /tf_static
+      - /scan_filtered
+    split: 600 # seconds per bag segment
+    max_gb: 2.0 # rolling disk cap
+
+  perception:
+    topics:
+      - /tf
+      - /tf_static
+      - /scan_filtered
+      - /image_raw/compressed
+      - /camera_info
+    split: 60
+    max_gb: 10.0
diff --git a/mote_bringup/launch/record_launch.py b/mote_bringup/launch/record_launch.py
new file mode 100644
index 0000000..6f77bfc
--- /dev/null
+++ b/mote_bringup/launch/record_launch.py
@@ -0,0 +1,76 @@
+"""Record rosbags for perception development, split by purpose with disk caps.
+
+Streams are defined in config/record.yaml. Each enabled stream is recorded in
+parallel under ~/.mote/bags/<name>/<timestamp> with its own segment length and
+rolling disk cap (bag_pruner deletes the oldest segments once a stream exceeds
+its cap so continuous recording never fills the disk).
+
+The compressed image stream is recorded rather than raw; republish it to
+/image_raw on playback with image_transport.
+"""
+
+import os
+from datetime import datetime
+
+import yaml
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+
+
+def _load_streams():
+    config_path = os.path.join(
+        get_package_share_directory("mote_bringup"), "config", "record.yaml"
+    )
+    with open(config_path) as f:
+        return yaml.safe_load(f)["streams"]
+
+
+def _bags_dir(kind):
+    base = os.path.join(os.path.expanduser("~/.mote/bags"), kind)
+    os.makedirs(base, exist_ok=True)
+    return base
+
+
+def _record(kind, topics, split):
+    output = os.path.join(_bags_dir(kind), datetime.now().strftime("%Y%m%d_%H%M%S"))
+    return ExecuteProcess(
+        cmd=[
+            "ros2",
+            "bag",
+            "record",
+            "--max-bag-duration",
+            str(split),
+            "-o",
+            output,
+            *topics,
+        ],
+        output="screen",
+    )
+
+
+def _pruner(kind, max_gb, interval):
+    return ExecuteProcess(
+        cmd=[
+            "ros2",
+            "run",
+            "mote_bringup",
+            "bag_pruner",
+            "--dir",
+            _bags_dir(kind),
+            "--max-gb",
+            str(max_gb),
+            "--interval",
+            str(interval),
+        ],
+        output="screen",
+    )
+
+
+def generate_launch_description():
+    actions = []
+    for name, stream in _load_streams().items():
+        split = stream["split"]
+        actions.append(_record(name, stream["topics"], split))
+        actions.append(_pruner(name, stream["max_gb"], split))
+    return LaunchDescription(actions)
diff --git a/mote_bringup/launch/rviz_launch.py b/mote_bringup/launch/rviz_launch.py
index f793876..76c8da2 100644
--- a/mote_bringup/launch/rviz_launch.py
+++ b/mote_bringup/launch/rviz_launch.py
@@ -5,17 +5,21 @@
 
 
 def generate_launch_description():
-    rviz_config = PathJoinSubstitution([
-        FindPackageShare("mote_bringup"),
-        "config",
-        "mote.rviz",
-    ])
+    rviz_config = PathJoinSubstitution(
+        [
+            FindPackageShare("mote_bringup"),
+            "config",
+            "mote.rviz",
+        ]
+    )
 
-    return LaunchDescription([
-        Node(
-            package="rviz2",
-            executable="rviz2",
-            arguments=["-d", rviz_config],
-            output="screen",
-        )
-    ])
+    return LaunchDescription(
+        [
+            Node(
+                package="rviz2",
+                executable="rviz2",
+                arguments=["-d", rviz_config],
+                output="screen",
+            )
+        ]
+    )
diff --git a/mote_bringup/mote_bringup/bag_pruner.py b/mote_bringup/mote_bringup/bag_pruner.py
new file mode 100644
index 0000000..8be7a5c
--- /dev/null
+++ b/mote_bringup/mote_bringup/bag_pruner.py
@@ -0,0 +1,97 @@
+"""Enforce a rolling disk budget on a rosbag2 output tree.
+
+Periodically sums the size of every .mcap segment under a directory and deletes
+the oldest segments once the total exceeds a cap, so a robot that records
+continuously never fills its disk. The newest segment (the one currently being
+written) is never deleted. Run directories left empty by pruning are removed
+along with their now-stale metadata.
+
+Each .mcap segment is self-contained, so pruning older segments out of a still
+active run does not affect playback of the segments that remain.
+"""
+
+import argparse
+import os
+import shutil
+import time
+
+
+EMPTY_RUN_MIN_AGE_SECONDS = 120.0
+
+
+def _segments(root):
+    files = []
+    for dirpath, _dirnames, filenames in os.walk(root):
+        for name in filenames:
+            if not name.endswith(".mcap"):
+                continue
+            path = os.path.join(dirpath, name)
+            try:
+                st = os.stat(path)
+            except FileNotFoundError:
+                continue
+            files.append((path, st.st_mtime, st.st_size))
+    files.sort(key=lambda f: f[1])  # oldest first
+    return files
+
+
+def _remove_empty_runs(root):
+    now = time.time()
+    for entry in os.scandir(root):
+        if not entry.is_dir():
+            continue
+        try:
+            age = now - entry.stat().st_mtime
+        except FileNotFoundError:
+            continue
+        if age < EMPTY_RUN_MIN_AGE_SECONDS:
+            continue
+        has_mcap = any(
+            name.endswith(".mcap")
+            for _d, _sub, names in os.walk(entry.path)
+            for name in names
+        )
+        if not has_mcap:
+            shutil.rmtree(entry.path, ignore_errors=True)
+            print(f"bag_pruner: removed empty run {entry.path}", flush=True)
+
+
+def prune(root, cap_bytes):
+    segs = _segments(root)
+    total = sum(s[2] for s in segs)
+    # Keep the newest segment regardless of the cap — it is still being written.
+    for path, _mtime, size in segs[:-1]:
+        if total <= cap_bytes:
+            break
+        try:
+            os.remove(path)
+            print(f"bag_pruner: removed {path} ({size / 1e6:.0f} MB)", flush=True)
+        except FileNotFoundError:
+            pass
+        total -= size
+    _remove_empty_runs(root)
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--dir", required=True, help="rosbag2 output tree to prune")
+    parser.add_argument(
+        "--max-gb", type=float, required=True, help="disk cap for the tree, in GB"
+    )
+    parser.add_argument(
+        "--interval", type=float, default=30.0, help="seconds between sweeps"
+    )
+    args = parser.parse_args()
+
+    cap_bytes = int(args.max_gb * 1e9)
+    os.makedirs(args.dir, exist_ok=True)
+    try:
+        while True:
+            prune(args.dir, cap_bytes)
+            time.sleep(args.interval)
+    except KeyboardInterrupt:
+        pass
+
+
+if __name__ == "__main__":
+    main()
diff --git a/mote_bringup/setup.py b/mote_bringup/setup.py
index 7c61e01..4a031c2 100644
--- a/mote_bringup/setup.py
+++ b/mote_bringup/setup.py
@@ -24,6 +24,7 @@
     entry_points={
         "console_scripts": [
             "odom_tf_relay = mote_bringup.odom_tf_relay:main",
+            "bag_pruner = mote_bringup.bag_pruner:main",
         ],
     },
 )
diff --git a/mote_bringup/systemd/install.sh b/mote_bringup/systemd/install.sh
index 47cc77c..42fe887 100755
--- a/mote_bringup/systemd/install.sh
+++ b/mote_bringup/systemd/install.sh
@@ -13,4 +13,4 @@ for unit in "$SRC_DIR"/*.service; do
 done
 
 sudo systemctl daemon-reload
-sudo systemctl enable mote-bringup mote-slam mote-nav
+sudo systemctl enable mote-bringup mote-slam mote-nav mote-record
diff --git a/mote_bringup/systemd/mote-record.service b/mote_bringup/systemd/mote-record.service
new file mode 100644
index 0000000..6da2aef
--- /dev/null
+++ b/mote_bringup/systemd/mote-record.service
@@ -0,0 +1,16 @@
+[Unit]
+Description=Mote Data Recording
+After=mote-bringup.service
+Wants=mote-bringup.service
+
+[Service]
+Type=simple
+User=@USER@
+WorkingDirectory=@HOME@/Mote
+ExecStart=@HOME@/.pixi/bin/pixi run record
+Restart=on-failure
+RestartSec=5
+Environment=HOME=@HOME@
+
+[Install]
+WantedBy=multi-user.target
diff --git a/pixi.lock b/pixi.lock
index ed66d9d..556edb9 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -258,6 +258,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libxml2-devel-2.15.3-h49c6c72_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libzlib-1.3.2-h25fd6f3_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/lttng-ust-2.13.9-hf5eda4c_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/lz4-4.4.5-py312h3d67a73_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/lz4-c-1.10.0-h5888daf_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/lzo-2.10-h280c20c_1002.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/markupsafe-3.0.3-py312h8a5da7c_1.conda
@@ -548,6 +549,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-joint-state-broadcaster-4.37.0-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-joint-trajectory-controller-4.37.0-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-kdl-parser-2.11.0-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-keyboard-handler-0.3.2-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-kinematics-interface-1.7.0-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-laser-filters-2.0.9-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-laser-geometry-2.7.2-np2py312h2ed9cc7_16.conda
@@ -558,10 +560,12 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-launch-xml-3.4.10-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-launch-yaml-3.4.10-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-libcurl-vendor-3.4.4-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-liblz4-vendor-0.26.9-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-libstatistics-collector-1.7.4-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-libyaml-vendor-1.6.3-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-lifecycle-msgs-2.0.3-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-map-msgs-2.4.1-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-mcap-vendor-0.26.9-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-mecanum-drive-controller-4.37.0-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-message-filters-4.11.10-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav-2d-msgs-1.3.11-np2py312h2ed9cc7_16.conda
@@ -638,6 +642,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2-control-4.43.0-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2-control-test-assets-4.43.0-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2-controllers-4.37.0-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2bag-0.26.9-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2cli-0.32.8-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2controlcli-4.43.0-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2launch-0.26.11-np2py312h2ed9cc7_16.conda
@@ -648,8 +653,13 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2run-0.32.8-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2service-0.32.8-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2topic-0.32.8-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-compression-0.26.9-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-cpp-0.26.9-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-interfaces-0.26.9-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-py-0.26.9-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-storage-0.26.9-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-storage-mcap-0.26.9-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-transport-0.26.9-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosgraph-msgs-2.0.3-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-adapter-4.6.7-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-cli-4.6.7-np2py312h2ed9cc7_16.conda
@@ -729,6 +739,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-xacro-2.1.1-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-yaml-cpp-vendor-9.0.1-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-zstd-image-transport-4.0.6-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-zstd-vendor-0.26.9-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-distro-mutex-0.14.0-jazzy_16.conda
       - conda: https://prefix.dev/mote/linux-64/scservo-linux-1.0.0-hb0f4dca_0.conda
       linux-aarch64:
@@ -973,6 +984,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libxml2-devel-2.15.3-h869d058_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libzlib-1.3.2-hdc9db2a_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/lttng-ust-2.13.9-h8d236e2_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/lz4-4.4.5-py312he78555a_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/lz4-c-1.10.0-h5ad3122_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/lzo-2.10-h80f16a2_1002.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/markupsafe-3.0.3-py312hd077ced_1.conda
@@ -1260,6 +1272,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-joint-state-broadcaster-4.37.0-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-joint-trajectory-controller-4.37.0-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-kdl-parser-2.11.0-np2py312h61f2ce4_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-keyboard-handler-0.3.2-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-kinematics-interface-1.7.0-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-laser-filters-2.0.9-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-laser-geometry-2.7.2-np2py312h61f2ce4_16.conda
@@ -1270,10 +1283,12 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-launch-xml-3.4.10-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-launch-yaml-3.4.10-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-libcurl-vendor-3.4.4-np2py312h61f2ce4_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-liblz4-vendor-0.26.9-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-libstatistics-collector-1.7.4-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-libyaml-vendor-1.6.3-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-lifecycle-msgs-2.0.3-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-map-msgs-2.4.1-np2py312h61f2ce4_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-mcap-vendor-0.26.9-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-mecanum-drive-controller-4.37.0-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-message-filters-4.11.10-np2py312h61f2ce4_16.conda
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@@ -1350,6 +1365,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2-control-4.43.0-np2py312h61f2ce4_16.conda
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+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2bag-0.26.9-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2cli-0.32.8-np2py312h61f2ce4_16.conda
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       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2launch-0.26.11-np2py312h61f2ce4_16.conda
@@ -1360,8 +1376,13 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2run-0.32.8-np2py312h61f2ce4_16.conda
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       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2topic-0.32.8-np2py312h61f2ce4_16.conda
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       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-cpp-0.26.9-np2py312h61f2ce4_16.conda
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+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-py-0.26.9-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-storage-0.26.9-np2py312h61f2ce4_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-storage-mcap-0.26.9-np2py312h61f2ce4_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-transport-0.26.9-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosgraph-msgs-2.0.3-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-adapter-4.6.7-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-cli-4.6.7-np2py312h61f2ce4_16.conda
@@ -1441,6 +1462,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-xacro-2.1.1-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-yaml-cpp-vendor-9.0.1-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-zstd-image-transport-4.0.6-np2py312h61f2ce4_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-zstd-vendor-0.26.9-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros2-distro-mutex-0.14.0-jazzy_16.conda
       - conda: https://prefix.dev/mote/linux-aarch64/scservo-linux-1.0.0-he8cfe8b_0.conda
   dev:
@@ -4325,6 +4347,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-joint-state-broadcaster-4.37.0-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-joint-trajectory-controller-4.37.0-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-kdl-parser-2.11.0-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-keyboard-handler-0.3.2-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-kinematics-interface-1.7.0-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-laser-filters-2.0.9-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-laser-geometry-2.7.2-np2py312h2ed9cc7_16.conda
@@ -4335,10 +4358,12 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-launch-xml-3.4.10-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-launch-yaml-3.4.10-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-libcurl-vendor-3.4.4-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-liblz4-vendor-0.26.9-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-libstatistics-collector-1.7.4-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-libyaml-vendor-1.6.3-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-lifecycle-msgs-2.0.3-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-map-msgs-2.4.1-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-mcap-vendor-0.26.9-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-mecanum-drive-controller-4.37.0-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-message-filters-4.11.10-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav-2d-msgs-1.3.11-np2py312h2ed9cc7_16.conda
@@ -4419,6 +4444,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2-control-cmake-0.3.0-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2-control-test-assets-4.43.0-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2-controllers-4.37.0-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2bag-0.26.9-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2cli-0.32.8-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2controlcli-4.43.0-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2launch-0.26.11-np2py312h2ed9cc7_16.conda
@@ -4429,8 +4455,13 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2run-0.32.8-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2service-0.32.8-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2topic-0.32.8-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-compression-0.26.9-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-cpp-0.26.9-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-interfaces-0.26.9-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-py-0.26.9-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-storage-0.26.9-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-storage-mcap-0.26.9-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-transport-0.26.9-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosgraph-msgs-2.0.3-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-adapter-4.6.7-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-cli-4.6.7-np2py312h2ed9cc7_16.conda
@@ -4512,6 +4543,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-xacro-2.1.1-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-yaml-cpp-vendor-9.0.1-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-zstd-image-transport-4.0.6-np2py312h2ed9cc7_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-zstd-vendor-0.26.9-np2py312h2ed9cc7_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-distro-mutex-0.14.0-jazzy_16.conda
       - conda: https://prefix.dev/mote/linux-64/scservo-linux-1.0.0-hb0f4dca_0.conda
       linux-aarch64:
@@ -5184,6 +5216,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-joint-state-broadcaster-4.37.0-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-joint-trajectory-controller-4.37.0-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-kdl-parser-2.11.0-np2py312h61f2ce4_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-keyboard-handler-0.3.2-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-kinematics-interface-1.7.0-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-laser-filters-2.0.9-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-laser-geometry-2.7.2-np2py312h61f2ce4_16.conda
@@ -5194,10 +5227,12 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-launch-xml-3.4.10-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-launch-yaml-3.4.10-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-libcurl-vendor-3.4.4-np2py312h61f2ce4_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-liblz4-vendor-0.26.9-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-libstatistics-collector-1.7.4-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-libyaml-vendor-1.6.3-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-lifecycle-msgs-2.0.3-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-map-msgs-2.4.1-np2py312h61f2ce4_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-mcap-vendor-0.26.9-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-mecanum-drive-controller-4.37.0-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-message-filters-4.11.10-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-nav-2d-msgs-1.3.11-np2py312h61f2ce4_16.conda
@@ -5278,6 +5313,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2-control-cmake-0.3.0-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2-control-test-assets-4.43.0-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2-controllers-4.37.0-np2py312h61f2ce4_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2bag-0.26.9-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2cli-0.32.8-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2controlcli-4.43.0-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2launch-0.26.11-np2py312h61f2ce4_16.conda
@@ -5288,8 +5324,13 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2run-0.32.8-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2service-0.32.8-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2topic-0.32.8-np2py312h61f2ce4_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-compression-0.26.9-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-cpp-0.26.9-np2py312h61f2ce4_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-interfaces-0.26.9-np2py312h61f2ce4_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-py-0.26.9-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-storage-0.26.9-np2py312h61f2ce4_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-storage-mcap-0.26.9-np2py312h61f2ce4_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-transport-0.26.9-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosgraph-msgs-2.0.3-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-adapter-4.6.7-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-cli-4.6.7-np2py312h61f2ce4_16.conda
@@ -5371,6 +5412,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-xacro-2.1.1-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-yaml-cpp-vendor-9.0.1-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-zstd-image-transport-4.0.6-np2py312h61f2ce4_16.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-zstd-vendor-0.26.9-np2py312h61f2ce4_16.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros2-distro-mutex-0.14.0-jazzy_16.conda
       - conda: https://prefix.dev/mote/linux-aarch64/scservo-linux-1.0.0-he8cfe8b_0.conda
 packages:
@@ -10709,6 +10751,7 @@ packages:
   - lz4-c >=1.10.0,<1.11.0a0
   license: BSD-3-Clause
   license_family: BSD
+  run_exports: {}
   size: 44154
   timestamp: 1765026394687
 - conda: https://conda.anaconda.org/conda-forge/linux-64/lz4-c-1.10.0-h5888daf_1.conda
@@ -18265,6 +18308,7 @@ packages:
   - lz4-c >=1.10.0,<1.11.0a0
   license: BSD-3-Clause
   license_family: BSD
+  run_exports: {}
   size: 51745
   timestamp: 1765026442641
 - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/lz4-c-1.10.0-h5ad3122_1.conda
diff --git a/pixi.toml b/pixi.toml
index 97742e0..a89698c 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -28,6 +28,7 @@ robot = "ros2 launch mote_bringup robot_launch.py"
 slam = "ros2 launch mote_bringup slam_launch.py"
 teleop = "ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true -r /cmd_vel:=/diff_drive_controller/cmd_vel"
 perception = "ros2 launch mote_perception perception_launch.py"
+record = "ros2 launch mote_bringup record_launch.py"
 
 
 [dependencies]
@@ -68,6 +69,10 @@ ros-jazzy-ros2lifecycle = ">=0.18.0"
 ros-jazzy-ros2run = ">=0.18.0"
 ros-jazzy-rosbag2-cpp = ">=0.26.0"
 ros-jazzy-rosbag2-storage = ">=0.26.0"
+# `ros2 bag record` CLI verb, recorder, and storage plugins (pixi run record)
+ros-jazzy-ros2bag = ">=0.26.0"
+ros-jazzy-rosbag2-transport = ">=0.26.0"
+ros-jazzy-rosbag2-storage-mcap = ">=0.26.0"
 ros-jazzy-slam-toolbox = ">=2.8.4,<3"
 ros-jazzy-teleop-twist-keyboard = ">=1.0.0"
 ros-jazzy-v4l2-camera = ">=0.7.1,<0.8"