You can find some basic instructions on the GPX google group (https://groups.google.com/forum/?fromgr ... -converter
). Essentially, all you do it add GPX as a post-processing script with the appropriate flags for whatever machine you are running. For your Replicator 2, you would want "-m r2".
We are already drafting up better documentation and tutorials for this process, so I hope those will be available soon.
Let me know if there's anything else I can do to help!