Supported Formats - Avala Documentation

Avala supports a wide range of data formats.

Container Formats

Format	Extension	Status
MCAP	`.mcap`	Full support
ROS 1 Bag	`.bag`	Full support
ROS 2 Bag	`.db3`	Full support

Message Formats

Images

Format	Schema	Notes
sensor_msgs/Image	ROS	Raw images
sensor_msgs/CompressedImage	ROS	JPEG, PNG
foxglove.RawImage	Foxglove	Raw images
foxglove.CompressedImage	Foxglove	Compressed

Point Clouds

Format	Schema	Notes
sensor_msgs/PointCloud2	ROS	Standard format
foxglove.PointCloud	Foxglove	Indexed points

Transforms

Format	Schema	Notes
tf2_msgs/TFMessage	ROS	Transform tree
geometry_msgs/TransformStamped	ROS	Single transform
foxglove.FrameTransform	Foxglove	Single transform

Other Sensors

Format	Schema	Notes
sensor_msgs/Imu	ROS	Accelerometer + Gyro
sensor_msgs/NavSatFix	ROS	GPS
sensor_msgs/LaserScan	ROS	2D LiDAR
radar_msgs/RadarScan	ROS	Radar returns

Custom Schemas

Define custom schemas using:

Protobuf (.proto)
JSON Schema
ROS message definitions (.msg)