ROS 2 MCAP record Cache buffers lost messages per topic:

[horverno]

 Cache buffers lost messages per topic: 
    /drone1/gps/duro/mag: 10
    /drone1/gps/duro/imu: 21
    /tf: 109
    /drone1/gps/duro/current_pose: 109
    /drone1/gps/duro/current_pose_with_cov: 109
    /drone1/os/imu: 2175
    /drone1/gps/duro/current_pose_fake_orientation: 109
    /drone1/os/range_image: 436
    /drone1/gps/duro/navsatfix: 109
    /drone1/os/reflec_image: 436
    /drone1/os/nearir_image: 436
    /drone1/os/signal_image: 436
    /drone1/os/points: 434
    /drone1/gps/duro/time_ref: 109
    /drone1/gps/duro/status_flag: 109
    /drone1/os/scan: 417
    /drone1/gps/duro/status_string: 109
    /drone1/gps/duro/odom: 109
Total lost: 5782

[horverno]

The solution is to use a similar command:

ros2 bag record -s mcap --max-cache-size 1048576000 --storage-config-file $DIR1/mcap_writer_options1.yaml -a

mcap_writer_options1.yaml

 # mcap_writer_options1.yaml 
 noChunkCRC: false 
 noChunking: false 
 noMessageIndex: false 
 noSummary: false 
 chunkSize: 10485760 
 compression: "Zstd" 
 compressionLevel: "Fastest" 
 forceCompression: false 

example: record_mcap1.sh