Store schema with IDL encoding

ddsrecorder_participants/include/ddsrecorder_participants/recorder/mcap/McapHandler.hpp

@@ -133,7 +133,7 @@ class McapHandler : public ddspipe::participants::ISchemaHandler
     ~McapHandler();
 
     /**
-     * @brief Create and store in \c schemas_ a ROS 2 schema (.msg format).
+     * @brief Create and store in \c schemas_ an OMG IDL schema (.idl format).
      * Any samples following this schema that were received before the schema itself are moved to the memory buffer
      * to be written with the next batch.
      * Previously created channels (for this type) associated with a blank schema are updated to use the new one.

ddsrecorder_participants/src/cpp/recorder/mcap/McapHandler.cpp

@@ -120,12 +120,12 @@ void McapHandler::add_schema(
     }
 
     // Schema not found, generate from dynamic type and store
-    std::string schema_text = generate_ros2_schema(dynamic_type);
+    std::string schema_text = generate_idl_schema(dynamic_type);
 
     logInfo(DDSRECORDER_MCAP_HANDLER, "\nAdding schema with name " << type_name << " :\n" << schema_text << "\n");
 
     // Create schema and add it to writer and to schemas map
-    mcap::Schema new_schema(type_name, "ros2msg", schema_text);
+    mcap::Schema new_schema(type_name, "omgidl", schema_text);
     // WARNING: passing as non-const to MCAP library
     mcap_writer_.addSchema(new_schema);
 
@@ -837,7 +837,7 @@ mcap::ChannelId McapHandler::create_channel_id_nts_(
             logInfo(DDSRECORDER_MCAP_HANDLER,
                     "Schema not found for type: " << topic.type_name << ". Creating blank schema...");
 
-            mcap::Schema blank_schema(topic.type_name, "ros2msg", "");
+            mcap::Schema blank_schema(topic.type_name, "omgidl", "");
             mcap_writer_.addSchema(blank_schema);
             schemas_.insert({topic.type_name, std::move(blank_schema)});
 

docs/rst/notes/forthcoming_version.rst

@@ -14,6 +14,7 @@ Next release will include the following **DDS Recorder & Replay internal adjustm
 
 * Store *DDS Record & Replay* version in metadata record of the generated MCAP files.
 * Move dynamic types storage from metadata to attachments MCAP section.
+* Store schemas in OMG IDL format (instead of ROS 2 msg).
 
 .. warning::
 

docs/rst/spelling_wordlist.txt

@@ -32,21 +32,27 @@ github
 gMock
 Gtest
 guid
+IDL
 IPv
 kubernetes
 localhost
 metatraffic
 microcontroller
 middleware
+msg
 multicast
 mutex
+OMG
 QoS
 Redistributable
 replayable
 replayer
 Requiredness
+ROS
 runtime
 scalable
+schema
+schemas
 timepoint
 utils
 validator