Crate mcap2arrow_ros2msg 

ROS 2 .msg → CDR decoder for mcap2arrow.

Implements MessageDecoder for the (schema_encoding = ros2msg, message_encoding = cdr) key.

Unlike the IDL decoder, a .msg schema is a single file, so no multi-section bundle splitting is needed. builtin_interfaces types (Time, Duration) are injected automatically via resolve_single_struct.

Pipeline

schema bytes (UTF-8 .msg)
  └─ parse_msg             – re_ros_msg parser → StructDef
      └─ resolve_single_struct  – type resolution → ResolvedSchema
          └─ decode_cdr_to_value – CDR bytes → Value

Structs

Ros2MsgDecoder

MessageDecoder for ROS 2 .msg schemas with CDR-encoded messages.

Functions

parse_msg

Parse .msg format and generate StructDef

resolve_for_cdr

Parse and resolve a .msg schema into a ResolvedSchema ready for CDR decoding.