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fix(bag): use decode_headerless instead of decode_ros1 for BAG messages #27

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Merged
zhexuany merged 1 commit into from
Feb 1, 2026
Merged

fix(bag): use decode_headerless instead of decode_ros1 for BAG messages #27

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7 changes: 4 additions & 3 deletions src/io/formats/bag/parallel.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -624,9 +624,10 @@ impl<'a> Iterator for BagDecodedMessageStream<'a> {
Err(e) => return Some(Err(e)),
};

// Use decode_ros1 which handles the ROS1-specific CDR format
// (no CDR header, little-endian)
match self.decoder.decode_ros1(
// Use decode_headerless for ROS1 bag messages
// The BAG parser extracts just the CDR message data (without wrapper headers),
// so we need to decode from byte 0, not skip 16 bytes like decode_ros1 does.
match self.decoder.decode_headerless(
&parsed_schema,
&raw_msg.data,
Some(&channel_info.message_type),
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