Accessing the MCAP recordings

[Ryan-Red]

Hi,
We've been using DDS-Record-Replay for a while now and we were recently trying to use the MCAP CLI to cat out our bags.
We found that we can't actually use lots of features like the JSON conversion since the encoding is in omgidl. We were wondering if it would be possible to add in an automatic decoding mechanism or a way to change the encoding to a supported type like protobuf instead, to be more compatible with the MCAP CLI and other tools to convert our MCAP bags to ROS ones.

Here's what we get when we run the CLI on our bag:

mcap cat vicon/vicon.mcap --topics name_of_the_topic --json | head -n 10

Error: failed to print messages: JSON output only supported for ros1msg, protobuf, and jsonschema schemas. Found: omgidl

Any help is appreciated

[juanlofer-eprosima]

Hi @Ryan-Red,

We changed the default schema format to omgidl a while ago in order to support a wider range of types, however this can be changed through configuration so that they are stored in ROS 2 format. If this still does not to meet your requirements, please contact our support team to discuss your needs and see how we could help you.