> ## Documentation Index
> Fetch the complete documentation index at: https://avala.ai/docs/llms.txt
> Use this file to discover all available pages before exploring further.

# Supported Formats

> Data formats supported by Avala

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`)