Concepts

MCAP organizes its data via messages, channels, and schemas.

Message

The unit of communication between nodes in the pub/sub system.

Channel

A stream of messages which have the same type, or schema. Often corresponds to a connection between a publisher and a subscriber.

Schema

A description of the structure and contents of messages on a channel, e.g. a Protobuf Schema or JSON Schema.

info

The foxglove/schemas repo provides pre-defined schemas for Foxglove visualizations.