mcap_ros1.decoder module¶

class mcap_ros1.decoder.Decoder[source]¶

Bases: object

decode(schema: Schema, message: Message) → Any[source]¶

Takes a Message record from an MCAP along with its associated Schema, and returns the decoded ROS1 message from within.

Parameters:

schema (mcap.records.Schema) – The message schema record from the MCAP.
message (mcap.records.Message) – The message record containing content to be decoded.

Raises:

McapROS1DecodeError – if the content could not be decoded as a ROS1 message with the given schema.

Returns:

The decoded message content.

exception mcap_ros1.decoder.McapROS1DecodeError[source]¶

Raised if a MCAP message record cannot be decoded as a ROS1 message.

mcap