Replace C++ backend with standalone MCAP backend + PyPI publishing - #20
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- Remove baglab_cpp_backend (required ROS 2 rosbag2_cpp) - Add baglab_mcap_backend using Foxglove mcap C++ reader + custom CDR deserializer with mmap optimization (no ROS 2 dependency) - Add mcap_repo as git submodule (pinned at e606c2b) - Add cibuildwheel CI workflow for PyPI wheel publishing (Linux x86_64) - Add baglab[mcap] optional dependency for easy installation - Update bag.py with mcap backend integration and auto-selection Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Add [tool.uv.sources] to resolve baglab-mcap-backend locally - Update test.yml to build mcap backend instead of deleted cpp backend - Add submodules: true to checkout step - Regenerate uv.lock Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Align baglab-mcap-backend version to 0.2.1 (same as baglab) - Merge publish-mcap-backend.yml into publish.yml as parallel jobs - Both baglab and baglab-mcap-backend publish on the same v* tag Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Summary
baglab_cpp_backend(ROS 2 rosbag2_cpp dependent) and replace withbaglab_mcap_backendusing Foxglove mcap C++ reader + custom CDR deserializer (no ROS 2 dependency)mcap_repoas git submodule for header-only mcap librarypublish-mcap-backend.yml) to build manylinux x86_64 wheels for Python 3.10/3.11/3.12 and publish to PyPI onmcap-backend-v*tagsbaglab[mcap]optional dependency so users canpip install baglab[mcap]Test plan
pip install baglab(pure Python) still workspip install baglab_mcap_backendfrom local build works on Ubuntu 22.04pip install baglab_mcap_backendfrom local build works on Ubuntu 24.04🤖 Generated with Claude Code