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foxglove / mcap

MCAP is a modular, performant, and serialization-agnostic container file format, useful for pub/sub and robotics applications.
https://mcap.dev
MIT License
523 stars 96 forks source link

Expose underlying writer of ROS1/2/Protobuf writers #1215

Closed hktonylee closed 2 months ago

hktonylee commented 2 months ago

Changelog

Expose underlying writer of ROS1/2/Protobuf writers

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Description

This is needed because the underlying writer exposes more API that are needed by end-users, for example, metadata read/write.

james-rms commented 2 months ago

I don't love this solution, and would prefer to move towards a future where the serialization-specific support code can be composed with an MCAP writer rather than wrap it entirely.

hktonylee commented 2 months ago

Absolutely agree. Composition would be much better solution. Let me close this PR first.