MCAP Python Library

The `mcap` library provides classes for reading and writing the MCAP file format. MCAP is a modular container format primarily intended for robotics applications, supporting pub/sub messages with arbitrary message serialization, including JSON, Protobuf, ROS 1, and ROS 2. It emphasizes high-performance writing, efficient seeking, and data recoverability. The project maintains an active development pace with frequent releases across its core library and various serialization support packages.