IDL

Author: oxkitsune

crates/utils/re_mcap/src/layers/raw.rs

@@ -26,6 +26,7 @@ impl MessageParser for RawMcapMessageParser {
         msg: &::mcap::Message<'_>,
     ) -> anyhow::Result<()> {
         re_tracing::profile_function!();
+
         self.data.values().values().append_slice(&msg.data);
         self.data.values().append(true);
         self.data.append(true);

crates/utils/re_mcap/src/layers/ros2.rs

@@ -1,10 +1,11 @@
 use std::collections::BTreeMap;
 
 use super::MessageLayer;
-use crate::{
-    parsers::MessageParser,
-    parsers::ros2msg::{
+use crate::parsers::{
+    MessageParser,
+    ros2msg::{
         Ros2MessageParser,
+        idl::{MessageSchema, MessageSpec},
         rcl_interfaces::LogMessageParser,
         sensor_msgs::{
             BatteryStateMessageParser, CameraInfoMessageParser, CompressedImageMessageParser,
@@ -92,9 +93,28 @@ impl MessageLayer for McapRos2Layer {
     }
 
     fn supports_channel(&self, channel: &mcap::Channel<'_>) -> bool {
-        channel.schema.as_ref().is_some_and(|s| {
+        if channel.schema.as_ref().is_some_and(|s| {
             s.encoding.as_str() == Self::ENCODING && self.registry.contains_key(&s.name)
-        })
+        }) {
+            true
+        } else {
+            let schema = channel.schema.as_ref().unwrap();
+            let schema_content = String::from_utf8_lossy(schema.data.as_ref());
+            if let Ok(message_spec) = MessageSchema::parse(schema.name.clone(), &schema_content) {
+                re_log::warn_once!(
+                    "Message schema {:?} is currently not supported, but parsed spec: {message_spec:#?}",
+                    schema.name
+                );
+            } else {
+                re_log::warn_once!(
+                    "Message schema {:?} is currently not supported, and failed to parse spec",
+                    schema.name
+                );
+                re_log::warn_once!("Schema content:\n{}", schema_content);
+            }
+
+            false
+        }
     }
 
     fn message_parser(
@@ -114,6 +134,7 @@ impl MessageLayer for McapRos2Layer {
                 "Message schema {:?} is currently not supported",
                 schema.name
             );
+
             None
         }
     }