MCAP organizes its data via messages, channels, and schemas.
The unit of communication between nodes in the pub/sub system.
A stream of messages which have the same type, or schema. Often corresponds to a connection between a publisher and a subscriber.
A description of the structure and contents of messages on a channel, e.g. a Protobuf Schema or JSON Schema.
The foxglove/schemas repo provides pre-defined schemas for Foxglove Studio visualizations.