diff --git a/.gitattributes b/.gitattributes
index f7783e5879..9a4b58178b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -8,3 +8,6 @@ python/mcap-ros1-support/mcap_ros1/vendor/** linguist-vendored=true
 cpp/examples/protobuf/proto/** linguist-vendored=true linguist-generated=true
 *.csv linguist-generated=true
 testdata/db3/eloquent-twist.db3 filter=lfs diff=lfs merge=lfs -text
+typescript/examples/flatbuffer/output/** linguist-generated=true
+typescript/examples/flatbuffer/bin/FrameTransform.bfbs filter=lfs diff=lfs merge=lfs -text
+typescript/examples/flatbuffer/bin/Grid.bfbs filter=lfs diff=lfs merge=lfs -text
diff --git a/cspell.config.yaml b/cspell.config.yaml
index 144fe7ec04..5ad7d123a6 100644
--- a/cspell.config.yaml
+++ b/cspell.config.yaml
@@ -33,6 +33,7 @@ ignorePaths:
 
 words:
   - bagfile
+  - bfbs
   - callerid
   - cbor
   - cmake
@@ -42,7 +43,9 @@ words:
   - datetime
   - deserialization
   - distro
+  - elems
   - flatbuffer
+  - flatbuffers
   - flatc
   - fwrite
   - gendeps
diff --git a/typescript/examples/basicwriter/package.json b/typescript/examples/basicwriter/package.json
index a477435ed1..6c344dd3d6 100644
--- a/typescript/examples/basicwriter/package.json
+++ b/typescript/examples/basicwriter/package.json
@@ -21,35 +21,16 @@
   },
   "devDependencies": {
     "@foxglove/eslint-plugin": "0.17.1",
-    "@foxglove/rosbag": "0.1.2",
-    "@foxglove/rosmsg": "3.0.0",
-    "@foxglove/rosmsg-serialization": "1.2.3",
-    "@foxglove/rosmsg2-serialization": "1.0.4",
-    "@foxglove/tsconfig": "1.1.0",
-    "@foxglove/wasm-bz2": "^0.0.4",
     "@mcap/core": "*",
-    "@types/jest": "27.0.3",
-    "@types/lodash": "4.14.176",
     "@types/node": "16.11.9",
-    "@typescript-eslint/eslint-plugin": "5.4.0",
-    "@typescript-eslint/parser": "5.4.0",
-    "commander": "8.3.0",
     "eslint": "7.32.0",
     "eslint-config-prettier": "8.3.0",
     "eslint-plugin-es": "4.1.0",
     "eslint-plugin-filenames": "1.3.2",
     "eslint-plugin-import": "2.25.3",
-    "eslint-plugin-jest": "25.2.4",
     "eslint-plugin-prettier": "4.0.0",
-    "jest": "27.3.1",
-    "lodash": "4.17.21",
     "prettier": "2.4.1",
-    "protobufjs": "6.11.2",
-    "ts-jest": "27.0.7",
     "ts-node": "10.4.0",
-    "tsconfig-paths": "3.12.0",
-    "typescript": "4.4.4",
-    "wasm-lz4": "2.0.0",
-    "zstd-codec": "^0.1.4"
+    "typescript": "4.4.4"
   }
 }
diff --git a/typescript/examples/flatbuffer/bin/FrameTransform.bfbs b/typescript/examples/flatbuffer/bin/FrameTransform.bfbs
new file mode 100644
index 0000000000..d51b2e4684
--- /dev/null
+++ b/typescript/examples/flatbuffer/bin/FrameTransform.bfbs
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:620ab0e3a0b6551c1d3936de4cfc5c3a0c834f0a0517eb9b88947f2bbb120a27
+size 1432
diff --git a/typescript/examples/flatbuffer/bin/Grid.bfbs b/typescript/examples/flatbuffer/bin/Grid.bfbs
new file mode 100644
index 0000000000..bc6bc166f3
--- /dev/null
+++ b/typescript/examples/flatbuffer/bin/Grid.bfbs
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b163dcc8a85f2a3bd40e02cef0c3f57b0dc833c6fe736be04b79245239f6fc0f
+size 2912
diff --git a/typescript/examples/flatbuffer/output/FrameTransform_generated.ts b/typescript/examples/flatbuffer/output/FrameTransform_generated.ts
new file mode 100644
index 0000000000..6829edbc80
--- /dev/null
+++ b/typescript/examples/flatbuffer/output/FrameTransform_generated.ts
@@ -0,0 +1,6 @@
+// automatically generated by the FlatBuffers compiler, do not modify
+
+export { FrameTransform } from './foxglove/frame-transform';
+export { Quaternion } from './foxglove/quaternion';
+export { Time } from './foxglove/time';
+export { Vector3 } from './foxglove/vector3';
diff --git a/typescript/examples/flatbuffer/output/Grid_generated.ts b/typescript/examples/flatbuffer/output/Grid_generated.ts
new file mode 100644
index 0000000000..3eeeaa936e
--- /dev/null
+++ b/typescript/examples/flatbuffer/output/Grid_generated.ts
@@ -0,0 +1,7 @@
+// automatically generated by the FlatBuffers compiler, do not modify
+
+export { Grid } from './foxglove/grid';
+export { PackedElementField } from './foxglove/packed-element-field';
+export { Pose } from './foxglove/pose';
+export { Time } from './foxglove/time';
+export { Vector2 } from './foxglove/vector2';
diff --git a/typescript/examples/flatbuffer/output/foxglove/frame-transform.ts b/typescript/examples/flatbuffer/output/foxglove/frame-transform.ts
new file mode 100644
index 0000000000..fbcb81cd62
--- /dev/null
+++ b/typescript/examples/flatbuffer/output/foxglove/frame-transform.ts
@@ -0,0 +1,112 @@
+// automatically generated by the FlatBuffers compiler, do not modify
+
+import * as flatbuffers from 'flatbuffers';
+
+import { Quaternion } from '../foxglove/quaternion';
+import { Time } from '../foxglove/time';
+import { Vector3 } from '../foxglove/vector3';
+
+
+/**
+ * A transform between two reference frames in 3D space
+ */
+export class FrameTransform {
+  bb: flatbuffers.ByteBuffer|null = null;
+  bb_pos = 0;
+  __init(i:number, bb:flatbuffers.ByteBuffer):FrameTransform {
+  this.bb_pos = i;
+  this.bb = bb;
+  return this;
+}
+
+static getRootAsFrameTransform(bb:flatbuffers.ByteBuffer, obj?:FrameTransform):FrameTransform {
+  return (obj || new FrameTransform()).__init(bb.readInt32(bb.position()) + bb.position(), bb);
+}
+
+static getSizePrefixedRootAsFrameTransform(bb:flatbuffers.ByteBuffer, obj?:FrameTransform):FrameTransform {
+  bb.setPosition(bb.position() + flatbuffers.SIZE_PREFIX_LENGTH);
+  return (obj || new FrameTransform()).__init(bb.readInt32(bb.position()) + bb.position(), bb);
+}
+
+/**
+ * Timestamp of transform
+ */
+timestamp(obj?:Time):Time|null {
+  const offset = this.bb!.__offset(this.bb_pos, 4);
+  return offset ? (obj || new Time()).__init(this.bb_pos + offset, this.bb!) : null;
+}
+
+/**
+ * Name of the parent frame
+ */
+parentFrameId():string|null
+parentFrameId(optionalEncoding:flatbuffers.Encoding):string|Uint8Array|null
+parentFrameId(optionalEncoding?:any):string|Uint8Array|null {
+  const offset = this.bb!.__offset(this.bb_pos, 6);
+  return offset ? this.bb!.__string(this.bb_pos + offset, optionalEncoding) : null;
+}
+
+/**
+ * Name of the child frame
+ */
+childFrameId():string|null
+childFrameId(optionalEncoding:flatbuffers.Encoding):string|Uint8Array|null
+childFrameId(optionalEncoding?:any):string|Uint8Array|null {
+  const offset = this.bb!.__offset(this.bb_pos, 8);
+  return offset ? this.bb!.__string(this.bb_pos + offset, optionalEncoding) : null;
+}
+
+/**
+ * Translation component of the transform
+ */
+translation(obj?:Vector3):Vector3|null {
+  const offset = this.bb!.__offset(this.bb_pos, 10);
+  return offset ? (obj || new Vector3()).__init(this.bb!.__indirect(this.bb_pos + offset), this.bb!) : null;
+}
+
+/**
+ * Rotation component of the transform
+ */
+rotation(obj?:Quaternion):Quaternion|null {
+  const offset = this.bb!.__offset(this.bb_pos, 12);
+  return offset ? (obj || new Quaternion()).__init(this.bb!.__indirect(this.bb_pos + offset), this.bb!) : null;
+}
+
+static startFrameTransform(builder:flatbuffers.Builder) {
+  builder.startObject(5);
+}
+
+static addTimestamp(builder:flatbuffers.Builder, timestampOffset:flatbuffers.Offset) {
+  builder.addFieldStruct(0, timestampOffset, 0);
+}
+
+static addParentFrameId(builder:flatbuffers.Builder, parentFrameIdOffset:flatbuffers.Offset) {
+  builder.addFieldOffset(1, parentFrameIdOffset, 0);
+}
+
+static addChildFrameId(builder:flatbuffers.Builder, childFrameIdOffset:flatbuffers.Offset) {
+  builder.addFieldOffset(2, childFrameIdOffset, 0);
+}
+
+static addTranslation(builder:flatbuffers.Builder, translationOffset:flatbuffers.Offset) {
+  builder.addFieldOffset(3, translationOffset, 0);
+}
+
+static addRotation(builder:flatbuffers.Builder, rotationOffset:flatbuffers.Offset) {
+  builder.addFieldOffset(4, rotationOffset, 0);
+}
+
+static endFrameTransform(builder:flatbuffers.Builder):flatbuffers.Offset {
+  const offset = builder.endObject();
+  return offset;
+}
+
+static finishFrameTransformBuffer(builder:flatbuffers.Builder, offset:flatbuffers.Offset) {
+  builder.finish(offset);
+}
+
+static finishSizePrefixedFrameTransformBuffer(builder:flatbuffers.Builder, offset:flatbuffers.Offset) {
+  builder.finish(offset, undefined, true);
+}
+
+}
diff --git a/typescript/examples/flatbuffer/output/foxglove/grid.ts b/typescript/examples/flatbuffer/output/foxglove/grid.ts
new file mode 100644
index 0000000000..88ac2b981a
--- /dev/null
+++ b/typescript/examples/flatbuffer/output/foxglove/grid.ts
@@ -0,0 +1,198 @@
+// automatically generated by the FlatBuffers compiler, do not modify
+
+import * as flatbuffers from 'flatbuffers';
+
+import { PackedElementField } from '../foxglove/packed-element-field';
+import { Pose } from '../foxglove/pose';
+import { Time } from '../foxglove/time';
+import { Vector2 } from '../foxglove/vector2';
+
+
+/**
+ * A 2D grid of data
+ */
+export class Grid {
+  bb: flatbuffers.ByteBuffer|null = null;
+  bb_pos = 0;
+  __init(i:number, bb:flatbuffers.ByteBuffer):Grid {
+  this.bb_pos = i;
+  this.bb = bb;
+  return this;
+}
+
+static getRootAsGrid(bb:flatbuffers.ByteBuffer, obj?:Grid):Grid {
+  return (obj || new Grid()).__init(bb.readInt32(bb.position()) + bb.position(), bb);
+}
+
+static getSizePrefixedRootAsGrid(bb:flatbuffers.ByteBuffer, obj?:Grid):Grid {
+  bb.setPosition(bb.position() + flatbuffers.SIZE_PREFIX_LENGTH);
+  return (obj || new Grid()).__init(bb.readInt32(bb.position()) + bb.position(), bb);
+}
+
+/**
+ * Timestamp of grid
+ */
+timestamp(obj?:Time):Time|null {
+  const offset = this.bb!.__offset(this.bb_pos, 4);
+  return offset ? (obj || new Time()).__init(this.bb_pos + offset, this.bb!) : null;
+}
+
+/**
+ * Frame of reference
+ */
+frameId():string|null
+frameId(optionalEncoding:flatbuffers.Encoding):string|Uint8Array|null
+frameId(optionalEncoding?:any):string|Uint8Array|null {
+  const offset = this.bb!.__offset(this.bb_pos, 6);
+  return offset ? this.bb!.__string(this.bb_pos + offset, optionalEncoding) : null;
+}
+
+/**
+ * Origin of grid's corner relative to frame of reference; grid is positioned in the x-y plane relative to this origin
+ */
+pose(obj?:Pose):Pose|null {
+  const offset = this.bb!.__offset(this.bb_pos, 8);
+  return offset ? (obj || new Pose()).__init(this.bb!.__indirect(this.bb_pos + offset), this.bb!) : null;
+}
+
+/**
+ * Number of grid columns
+ */
+columnCount():number {
+  const offset = this.bb!.__offset(this.bb_pos, 10);
+  return offset ? this.bb!.readUint32(this.bb_pos + offset) : 0;
+}
+
+/**
+ * Size of single grid cell along x and y axes, relative to `pose`
+ */
+cellSize(obj?:Vector2):Vector2|null {
+  const offset = this.bb!.__offset(this.bb_pos, 12);
+  return offset ? (obj || new Vector2()).__init(this.bb!.__indirect(this.bb_pos + offset), this.bb!) : null;
+}
+
+/**
+ * Number of bytes between rows in `data`
+ */
+rowStride():number {
+  const offset = this.bb!.__offset(this.bb_pos, 14);
+  return offset ? this.bb!.readUint32(this.bb_pos + offset) : 0;
+}
+
+/**
+ * Number of bytes between cells within a row in `data`
+ */
+cellStride():number {
+  const offset = this.bb!.__offset(this.bb_pos, 16);
+  return offset ? this.bb!.readUint32(this.bb_pos + offset) : 0;
+}
+
+/**
+ * Fields in `data`
+ */
+fields(index: number, obj?:PackedElementField):PackedElementField|null {
+  const offset = this.bb!.__offset(this.bb_pos, 18);
+  return offset ? (obj || new PackedElementField()).__init(this.bb!.__indirect(this.bb!.__vector(this.bb_pos + offset) + index * 4), this.bb!) : null;
+}
+
+fieldsLength():number {
+  const offset = this.bb!.__offset(this.bb_pos, 18);
+  return offset ? this.bb!.__vector_len(this.bb_pos + offset) : 0;
+}
+
+/**
+ * Grid cell data, interpreted using `fields`, in row-major (y-major) order
+ */
+data(index: number):number|null {
+  const offset = this.bb!.__offset(this.bb_pos, 20);
+  return offset ? this.bb!.readUint8(this.bb!.__vector(this.bb_pos + offset) + index) : 0;
+}
+
+dataLength():number {
+  const offset = this.bb!.__offset(this.bb_pos, 20);
+  return offset ? this.bb!.__vector_len(this.bb_pos + offset) : 0;
+}
+
+dataArray():Uint8Array|null {
+  const offset = this.bb!.__offset(this.bb_pos, 20);
+  return offset ? new Uint8Array(this.bb!.bytes().buffer, this.bb!.bytes().byteOffset + this.bb!.__vector(this.bb_pos + offset), this.bb!.__vector_len(this.bb_pos + offset)) : null;
+}
+
+static startGrid(builder:flatbuffers.Builder) {
+  builder.startObject(9);
+}
+
+static addTimestamp(builder:flatbuffers.Builder, timestampOffset:flatbuffers.Offset) {
+  builder.addFieldStruct(0, timestampOffset, 0);
+}
+
+static addFrameId(builder:flatbuffers.Builder, frameIdOffset:flatbuffers.Offset) {
+  builder.addFieldOffset(1, frameIdOffset, 0);
+}
+
+static addPose(builder:flatbuffers.Builder, poseOffset:flatbuffers.Offset) {
+  builder.addFieldOffset(2, poseOffset, 0);
+}
+
+static addColumnCount(builder:flatbuffers.Builder, columnCount:number) {
+  builder.addFieldInt32(3, columnCount, 0);
+}
+
+static addCellSize(builder:flatbuffers.Builder, cellSizeOffset:flatbuffers.Offset) {
+  builder.addFieldOffset(4, cellSizeOffset, 0);
+}
+
+static addRowStride(builder:flatbuffers.Builder, rowStride:number) {
+  builder.addFieldInt32(5, rowStride, 0);
+}
+
+static addCellStride(builder:flatbuffers.Builder, cellStride:number) {
+  builder.addFieldInt32(6, cellStride, 0);
+}
+
+static addFields(builder:flatbuffers.Builder, fieldsOffset:flatbuffers.Offset) {
+  builder.addFieldOffset(7, fieldsOffset, 0);
+}
+
+static createFieldsVector(builder:flatbuffers.Builder, data:flatbuffers.Offset[]):flatbuffers.Offset {
+  builder.startVector(4, data.length, 4);
+  for (let i = data.length - 1; i >= 0; i--) {
+    builder.addOffset(data[i]!);
+  }
+  return builder.endVector();
+}
+
+static startFieldsVector(builder:flatbuffers.Builder, numElems:number) {
+  builder.startVector(4, numElems, 4);
+}
+
+static addData(builder:flatbuffers.Builder, dataOffset:flatbuffers.Offset) {
+  builder.addFieldOffset(8, dataOffset, 0);
+}
+
+static createDataVector(builder:flatbuffers.Builder, data:number[]|Uint8Array):flatbuffers.Offset {
+  builder.startVector(1, data.length, 1);
+  for (let i = data.length - 1; i >= 0; i--) {
+    builder.addInt8(data[i]!);
+  }
+  return builder.endVector();
+}
+
+static startDataVector(builder:flatbuffers.Builder, numElems:number) {
+  builder.startVector(1, numElems, 1);
+}
+
+static endGrid(builder:flatbuffers.Builder):flatbuffers.Offset {
+  const offset = builder.endObject();
+  return offset;
+}
+
+static finishGridBuffer(builder:flatbuffers.Builder, offset:flatbuffers.Offset) {
+  builder.finish(offset);
+}
+
+static finishSizePrefixedGridBuffer(builder:flatbuffers.Builder, offset:flatbuffers.Offset) {
+  builder.finish(offset, undefined, true);
+}
+
+}
diff --git a/typescript/examples/flatbuffer/output/foxglove/numeric-type.ts b/typescript/examples/flatbuffer/output/foxglove/numeric-type.ts
new file mode 100644
index 0000000000..2ba0e950b4
--- /dev/null
+++ b/typescript/examples/flatbuffer/output/foxglove/numeric-type.ts
@@ -0,0 +1,16 @@
+// automatically generated by the FlatBuffers compiler, do not modify
+
+/**
+ * Numeric type
+ */
+export enum NumericType {
+  UNKNOWN = 0,
+  UINT8 = 1,
+  INT8 = 2,
+  UINT16 = 3,
+  INT16 = 4,
+  UINT32 = 5,
+  INT32 = 6,
+  FLOAT32 = 7,
+  FLOAT64 = 8
+}
diff --git a/typescript/examples/flatbuffer/output/foxglove/packed-element-field.ts b/typescript/examples/flatbuffer/output/foxglove/packed-element-field.ts
new file mode 100644
index 0000000000..35f5a746f4
--- /dev/null
+++ b/typescript/examples/flatbuffer/output/foxglove/packed-element-field.ts
@@ -0,0 +1,91 @@
+// automatically generated by the FlatBuffers compiler, do not modify
+
+import * as flatbuffers from 'flatbuffers';
+
+import { NumericType } from '../foxglove/numeric-type';
+
+
+/**
+ * A field present within each element in a byte array of packed elements.
+ */
+export class PackedElementField {
+  bb: flatbuffers.ByteBuffer|null = null;
+  bb_pos = 0;
+  __init(i:number, bb:flatbuffers.ByteBuffer):PackedElementField {
+  this.bb_pos = i;
+  this.bb = bb;
+  return this;
+}
+
+static getRootAsPackedElementField(bb:flatbuffers.ByteBuffer, obj?:PackedElementField):PackedElementField {
+  return (obj || new PackedElementField()).__init(bb.readInt32(bb.position()) + bb.position(), bb);
+}
+
+static getSizePrefixedRootAsPackedElementField(bb:flatbuffers.ByteBuffer, obj?:PackedElementField):PackedElementField {
+  bb.setPosition(bb.position() + flatbuffers.SIZE_PREFIX_LENGTH);
+  return (obj || new PackedElementField()).__init(bb.readInt32(bb.position()) + bb.position(), bb);
+}
+
+/**
+ * Name of the field
+ */
+name():string|null
+name(optionalEncoding:flatbuffers.Encoding):string|Uint8Array|null
+name(optionalEncoding?:any):string|Uint8Array|null {
+  const offset = this.bb!.__offset(this.bb_pos, 4);
+  return offset ? this.bb!.__string(this.bb_pos + offset, optionalEncoding) : null;
+}
+
+/**
+ * Byte offset from start of data buffer
+ */
+offset():number {
+  const offset = this.bb!.__offset(this.bb_pos, 6);
+  return offset ? this.bb!.readUint32(this.bb_pos + offset) : 0;
+}
+
+/**
+ * Type of data in the field. Integers are stored using little-endian byte order.
+ */
+type():NumericType {
+  const offset = this.bb!.__offset(this.bb_pos, 8);
+  return offset ? this.bb!.readUint8(this.bb_pos + offset) : NumericType.UNKNOWN;
+}
+
+static startPackedElementField(builder:flatbuffers.Builder) {
+  builder.startObject(3);
+}
+
+static addName(builder:flatbuffers.Builder, nameOffset:flatbuffers.Offset) {
+  builder.addFieldOffset(0, nameOffset, 0);
+}
+
+static addOffset(builder:flatbuffers.Builder, offset:number) {
+  builder.addFieldInt32(1, offset, 0);
+}
+
+static addType(builder:flatbuffers.Builder, type:NumericType) {
+  builder.addFieldInt8(2, type, NumericType.UNKNOWN);
+}
+
+static endPackedElementField(builder:flatbuffers.Builder):flatbuffers.Offset {
+  const offset = builder.endObject();
+  return offset;
+}
+
+static finishPackedElementFieldBuffer(builder:flatbuffers.Builder, offset:flatbuffers.Offset) {
+  builder.finish(offset);
+}
+
+static finishSizePrefixedPackedElementFieldBuffer(builder:flatbuffers.Builder, offset:flatbuffers.Offset) {
+  builder.finish(offset, undefined, true);
+}
+
+static createPackedElementField(builder:flatbuffers.Builder, nameOffset:flatbuffers.Offset, offset:number, type:NumericType):flatbuffers.Offset {
+  PackedElementField.startPackedElementField(builder);
+  PackedElementField.addName(builder, nameOffset);
+  PackedElementField.addOffset(builder, offset);
+  PackedElementField.addType(builder, type);
+  return PackedElementField.endPackedElementField(builder);
+}
+}
diff --git a/typescript/examples/flatbuffer/output/foxglove/pose.ts b/typescript/examples/flatbuffer/output/foxglove/pose.ts
new file mode 100644
index 0000000000..7294cdb7a4
--- /dev/null
+++ b/typescript/examples/flatbuffer/output/foxglove/pose.ts
@@ -0,0 +1,71 @@
+// automatically generated by the FlatBuffers compiler, do not modify
+
+import * as flatbuffers from 'flatbuffers';
+
+import { Quaternion } from '../foxglove/quaternion';
+import { Vector3 } from '../foxglove/vector3';
+
+
+/**
+ * A position and orientation for an object or reference frame in 3D space
+ */
+export class Pose {
+  bb: flatbuffers.ByteBuffer|null = null;
+  bb_pos = 0;
+  __init(i:number, bb:flatbuffers.ByteBuffer):Pose {
+  this.bb_pos = i;
+  this.bb = bb;
+  return this;
+}
+
+static getRootAsPose(bb:flatbuffers.ByteBuffer, obj?:Pose):Pose {
+  return (obj || new Pose()).__init(bb.readInt32(bb.position()) + bb.position(), bb);
+}
+
+static getSizePrefixedRootAsPose(bb:flatbuffers.ByteBuffer, obj?:Pose):Pose {
+  bb.setPosition(bb.position() + flatbuffers.SIZE_PREFIX_LENGTH);
+  return (obj || new Pose()).__init(bb.readInt32(bb.position()) + bb.position(), bb);
+}
+
+/**
+ * Point denoting position in 3D space
+ */
+position(obj?:Vector3):Vector3|null {
+  const offset = this.bb!.__offset(this.bb_pos, 4);
+  return offset ? (obj || new Vector3()).__init(this.bb!.__indirect(this.bb_pos + offset), this.bb!) : null;
+}
+
+/**
+ * Quaternion denoting orientation in 3D space
+ */
+orientation(obj?:Quaternion):Quaternion|null {
+  const offset = this.bb!.__offset(this.bb_pos, 6);
+  return offset ? (obj || new Quaternion()).__init(this.bb!.__indirect(this.bb_pos + offset), this.bb!) : null;
+}
+
+static startPose(builder:flatbuffers.Builder) {
+  builder.startObject(2);
+}
+
+static addPosition(builder:flatbuffers.Builder, positionOffset:flatbuffers.Offset) {
+  builder.addFieldOffset(0, positionOffset, 0);
+}
+
+static addOrientation(builder:flatbuffers.Builder, orientationOffset:flatbuffers.Offset) {
+  builder.addFieldOffset(1, orientationOffset, 0);
+}
+
+static endPose(builder:flatbuffers.Builder):flatbuffers.Offset {
+  const offset = builder.endObject();
+  return offset;
+}
+
+static finishPoseBuffer(builder:flatbuffers.Builder, offset:flatbuffers.Offset) {
+  builder.finish(offset);
+}
+
+static finishSizePrefixedPoseBuffer(builder:flatbuffers.Builder, offset:flatbuffers.Offset) {
+  builder.finish(offset, undefined, true);
+}
+
+}
diff --git a/typescript/examples/flatbuffer/output/foxglove/quaternion.ts b/typescript/examples/flatbuffer/output/foxglove/quaternion.ts
new file mode 100644
index 0000000000..033428fae4
--- /dev/null
+++ b/typescript/examples/flatbuffer/output/foxglove/quaternion.ts
@@ -0,0 +1,101 @@
+// automatically generated by the FlatBuffers compiler, do not modify
+
+import * as flatbuffers from 'flatbuffers';
+
+
+
+/**
+ * A [quaternion](https://eater.net/quaternions) representing a rotation in 3D space
+ */
+export class Quaternion {
+  bb: flatbuffers.ByteBuffer|null = null;
+  bb_pos = 0;
+  __init(i:number, bb:flatbuffers.ByteBuffer):Quaternion {
+  this.bb_pos = i;
+  this.bb = bb;
+  return this;
+}
+
+static getRootAsQuaternion(bb:flatbuffers.ByteBuffer, obj?:Quaternion):Quaternion {
+  return (obj || new Quaternion()).__init(bb.readInt32(bb.position()) + bb.position(), bb);
+}
+
+static getSizePrefixedRootAsQuaternion(bb:flatbuffers.ByteBuffer, obj?:Quaternion):Quaternion {
+  bb.setPosition(bb.position() + flatbuffers.SIZE_PREFIX_LENGTH);
+  return (obj || new Quaternion()).__init(bb.readInt32(bb.position()) + bb.position(), bb);
+}
+
+/**
+ * x value
+ */
+x():number {
+  const offset = this.bb!.__offset(this.bb_pos, 4);
+  return offset ? this.bb!.readFloat64(this.bb_pos + offset) : 0.0;
+}
+
+/**
+ * y value
+ */
+y():number {
+  const offset = this.bb!.__offset(this.bb_pos, 6);
+  return offset ? this.bb!.readFloat64(this.bb_pos + offset) : 0.0;
+}
+
+/**
+ * z value
+ */
+z():number {
+  const offset = this.bb!.__offset(this.bb_pos, 8);
+  return offset ? this.bb!.readFloat64(this.bb_pos + offset) : 0.0;
+}
+
+/**
+ * w value
+ */
+w():number {
+  const offset = this.bb!.__offset(this.bb_pos, 10);
+  return offset ? this.bb!.readFloat64(this.bb_pos + offset) : 1.0;
+}
+
+static startQuaternion(builder:flatbuffers.Builder) {
+  builder.startObject(4);
+}
+
+static addX(builder:flatbuffers.Builder, x:number) {
+  builder.addFieldFloat64(0, x, 0.0);
+}
+
+static addY(builder:flatbuffers.Builder, y:number) {
+  builder.addFieldFloat64(1, y, 0.0);
+}
+
+static addZ(builder:flatbuffers.Builder, z:number) {
+  builder.addFieldFloat64(2, z, 0.0);
+}
+
+static addW(builder:flatbuffers.Builder, w:number) {
+  builder.addFieldFloat64(3, w, 1.0);
+}
+
+static endQuaternion(builder:flatbuffers.Builder):flatbuffers.Offset {
+  const offset = builder.endObject();
+  return offset;
+}
+
+static finishQuaternionBuffer(builder:flatbuffers.Builder, offset:flatbuffers.Offset) {
+  builder.finish(offset);
+}
+
+static finishSizePrefixedQuaternionBuffer(builder:flatbuffers.Builder, offset:flatbuffers.Offset) {
+  builder.finish(offset, undefined, true);
+}
+
+static createQuaternion(builder:flatbuffers.Builder, x:number, y:number, z:number, w:number):flatbuffers.Offset {
+  Quaternion.startQuaternion(builder);
+  Quaternion.addX(builder, x);
+  Quaternion.addY(builder, y);
+  Quaternion.addZ(builder, z);
+  Quaternion.addW(builder, w);
+  return Quaternion.endQuaternion(builder);
+}
+}
diff --git a/typescript/examples/flatbuffer/output/foxglove/time.ts b/typescript/examples/flatbuffer/output/foxglove/time.ts
new file mode 100644
index 0000000000..0e76903d4c
--- /dev/null
+++ b/typescript/examples/flatbuffer/output/foxglove/time.ts
@@ -0,0 +1,40 @@
+// automatically generated by the FlatBuffers compiler, do not modify
+
+import * as flatbuffers from 'flatbuffers';
+
+export class Time {
+  bb: flatbuffers.ByteBuffer|null = null;
+  bb_pos = 0;
+  __init(i:number, bb:flatbuffers.ByteBuffer):Time {
+  this.bb_pos = i;
+  this.bb = bb;
+  return this;
+}
+
+/**
+ * 	Represents seconds of UTC time since Unix epoch 1970-01-01T00:00:00Z
+ */
+sec():bigint {
+  return this.bb!.readUint64(this.bb_pos);
+}
+
+/**
+ * Nano-second fractions from 0 to 999,999,999 inclusive
+ */
+nsec():number {
+  return this.bb!.readUint32(this.bb_pos + 8);
+}
+
+static sizeOf():number {
+  return 16;
+}
+
+static createTime(builder:flatbuffers.Builder, sec: bigint, nsec: number):flatbuffers.Offset {
+  builder.prep(8, 16);
+  builder.pad(4);
+  builder.writeInt32(nsec);
+  builder.writeInt64(sec);
+  return builder.offset();
+}
+
+}
diff --git a/typescript/examples/flatbuffer/output/foxglove/vector2.ts b/typescript/examples/flatbuffer/output/foxglove/vector2.ts
new file mode 100644
index 0000000000..c0733d5ed8
--- /dev/null
+++ b/typescript/examples/flatbuffer/output/foxglove/vector2.ts
@@ -0,0 +1,75 @@
+// automatically generated by the FlatBuffers compiler, do not modify
+
+import * as flatbuffers from 'flatbuffers';
+
+
+
+/**
+ * A vector in 2D space that represents a direction only
+ */
+export class Vector2 {
+  bb: flatbuffers.ByteBuffer|null = null;
+  bb_pos = 0;
+  __init(i:number, bb:flatbuffers.ByteBuffer):Vector2 {
+  this.bb_pos = i;
+  this.bb = bb;
+  return this;
+}
+
+static getRootAsVector2(bb:flatbuffers.ByteBuffer, obj?:Vector2):Vector2 {
+  return (obj || new Vector2()).__init(bb.readInt32(bb.position()) + bb.position(), bb);
+}
+
+static getSizePrefixedRootAsVector2(bb:flatbuffers.ByteBuffer, obj?:Vector2):Vector2 {
+  bb.setPosition(bb.position() + flatbuffers.SIZE_PREFIX_LENGTH);
+  return (obj || new Vector2()).__init(bb.readInt32(bb.position()) + bb.position(), bb);
+}
+
+/**
+ * x coordinate length
+ */
+x():number {
+  const offset = this.bb!.__offset(this.bb_pos, 4);
+  return offset ? this.bb!.readFloat64(this.bb_pos + offset) : 1.0;
+}
+
+/**
+ * y coordinate length
+ */
+y():number {
+  const offset = this.bb!.__offset(this.bb_pos, 6);
+  return offset ? this.bb!.readFloat64(this.bb_pos + offset) : 1.0;
+}
+
+static startVector2(builder:flatbuffers.Builder) {
+  builder.startObject(2);
+}
+
+static addX(builder:flatbuffers.Builder, x:number) {
+  builder.addFieldFloat64(0, x, 1.0);
+}
+
+static addY(builder:flatbuffers.Builder, y:number) {
+  builder.addFieldFloat64(1, y, 1.0);
+}
+
+static endVector2(builder:flatbuffers.Builder):flatbuffers.Offset {
+  const offset = builder.endObject();
+  return offset;
+}
+
+static finishVector2Buffer(builder:flatbuffers.Builder, offset:flatbuffers.Offset) {
+  builder.finish(offset);
+}
+
+static finishSizePrefixedVector2Buffer(builder:flatbuffers.Builder, offset:flatbuffers.Offset) {
+  builder.finish(offset, undefined, true);
+}
+
+static createVector2(builder:flatbuffers.Builder, x:number, y:number):flatbuffers.Offset {
+  Vector2.startVector2(builder);
+  Vector2.addX(builder, x);
+  Vector2.addY(builder, y);
+  return Vector2.endVector2(builder);
+}
+}
diff --git a/typescript/examples/flatbuffer/output/foxglove/vector3.ts b/typescript/examples/flatbuffer/output/foxglove/vector3.ts
new file mode 100644
index 0000000000..f2f19fd68d
--- /dev/null
+++ b/typescript/examples/flatbuffer/output/foxglove/vector3.ts
@@ -0,0 +1,88 @@
+// automatically generated by the FlatBuffers compiler, do not modify
+
+import * as flatbuffers from 'flatbuffers';
+
+
+
+/**
+ * A vector in 3D space that represents a direction only
+ */
+export class Vector3 {
+  bb: flatbuffers.ByteBuffer|null = null;
+  bb_pos = 0;
+  __init(i:number, bb:flatbuffers.ByteBuffer):Vector3 {
+  this.bb_pos = i;
+  this.bb = bb;
+  return this;
+}
+
+static getRootAsVector3(bb:flatbuffers.ByteBuffer, obj?:Vector3):Vector3 {
+  return (obj || new Vector3()).__init(bb.readInt32(bb.position()) + bb.position(), bb);
+}
+
+static getSizePrefixedRootAsVector3(bb:flatbuffers.ByteBuffer, obj?:Vector3):Vector3 {
+  bb.setPosition(bb.position() + flatbuffers.SIZE_PREFIX_LENGTH);
+  return (obj || new Vector3()).__init(bb.readInt32(bb.position()) + bb.position(), bb);
+}
+
+/**
+ * x coordinate length
+ */
+x():number {
+  const offset = this.bb!.__offset(this.bb_pos, 4);
+  return offset ? this.bb!.readFloat64(this.bb_pos + offset) : 1.0;
+}
+
+/**
+ * y coordinate length
+ */
+y():number {
+  const offset = this.bb!.__offset(this.bb_pos, 6);
+  return offset ? this.bb!.readFloat64(this.bb_pos + offset) : 1.0;
+}
+
+/**
+ * z coordinate length
+ */
+z():number {
+  const offset = this.bb!.__offset(this.bb_pos, 8);
+  return offset ? this.bb!.readFloat64(this.bb_pos + offset) : 1.0;
+}
+
+static startVector3(builder:flatbuffers.Builder) {
+  builder.startObject(3);
+}
+
+static addX(builder:flatbuffers.Builder, x:number) {
+  builder.addFieldFloat64(0, x, 1.0);
+}
+
+static addY(builder:flatbuffers.Builder, y:number) {
+  builder.addFieldFloat64(1, y, 1.0);
+}
+
+static addZ(builder:flatbuffers.Builder, z:number) {
+  builder.addFieldFloat64(2, z, 1.0);
+}
+
+static endVector3(builder:flatbuffers.Builder):flatbuffers.Offset {
+  const offset = builder.endObject();
+  return offset;
+}
+
+static finishVector3Buffer(builder:flatbuffers.Builder, offset:flatbuffers.Offset) {
+  builder.finish(offset);
+}
+
+static finishSizePrefixedVector3Buffer(builder:flatbuffers.Builder, offset:flatbuffers.Offset) {
+  builder.finish(offset, undefined, true);
+}
+
+static createVector3(builder:flatbuffers.Builder, x:number, y:number, z:number):flatbuffers.Offset {
+  Vector3.startVector3(builder);
+  Vector3.addX(builder, x);
+  Vector3.addY(builder, y);
+  Vector3.addZ(builder, z);
+  return Vector3.endVector3(builder);
+}
+}
diff --git a/typescript/examples/flatbufferswriter/.eslintrc.js b/typescript/examples/flatbufferswriter/.eslintrc.js
new file mode 100644
index 0000000000..8eb03eee3d
--- /dev/null
+++ b/typescript/examples/flatbufferswriter/.eslintrc.js
@@ -0,0 +1,19 @@
+/* eslint-env node */
+module.exports = {
+  env: { es2020: true },
+  ignorePatterns: ["dist"],
+  extends: ["plugin:@foxglove/base", "plugin:@foxglove/jest"],
+  overrides: [
+    {
+      files: ["*.ts", "*.tsx"],
+      extends: ["plugin:@foxglove/typescript"],
+      parserOptions: {
+        project: "tsconfig.json",
+        tsconfigRootDir: __dirname,
+      },
+    },
+  ],
+  rules: {
+    "no-warning-comments": ["error", { terms: ["fixme"], location: "anywhere" }],
+  },
+};
diff --git a/typescript/examples/flatbufferswriter/package.json b/typescript/examples/flatbufferswriter/package.json
new file mode 100644
index 0000000000..6779537db6
--- /dev/null
+++ b/typescript/examples/flatbufferswriter/package.json
@@ -0,0 +1,38 @@
+{
+  "name": "@foxglove/mcap-example-flatbufferswriter",
+  "version": "0.0.0",
+  "private": true,
+  "description": "Flatbuffer Encoding Example",
+  "license": "MIT",
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/foxglove/mcap.git"
+  },
+  "author": {
+    "name": "Foxglove Technologies",
+    "email": "support@foxglove.dev"
+  },
+  "homepage": "https://foxglove.dev/",
+  "scripts": {
+    "typecheck": "tsc -p tsconfig.json --noEmit",
+    "lint:ci": "eslint --report-unused-disable-directives .",
+    "lint": "eslint --report-unused-disable-directives --fix .",
+    "main": "ts-node --files --project tsconfig.cjs.json scripts/main.ts"
+  },
+  "devDependencies": {
+    "@foxglove/eslint-plugin": "0.17.1",
+    "@foxglove/schemas": "^0.7.1",
+    "@mcap/core": "*",
+    "@types/node": "16.11.9",
+    "eslint": "7.32.0",
+    "eslint-config-prettier": "8.3.0",
+    "eslint-plugin-es": "4.1.0",
+    "eslint-plugin-filenames": "1.3.2",
+    "eslint-plugin-import": "2.25.3",
+    "eslint-plugin-prettier": "4.0.0",
+    "flatbuffers": "^22.10.26",
+    "prettier": "2.4.1",
+    "ts-node": "10.4.0",
+    "typescript": "4.4.4"
+  }
+}
diff --git a/typescript/examples/flatbufferswriter/scripts/flatbufferUtils.ts b/typescript/examples/flatbufferswriter/scripts/flatbufferUtils.ts
new file mode 100644
index 0000000000..c40a0df850
--- /dev/null
+++ b/typescript/examples/flatbufferswriter/scripts/flatbufferUtils.ts
@@ -0,0 +1,118 @@
+import {
+  Grid,
+  FrameTransform,
+  Quaternion,
+  Vector3,
+  PackedElementField,
+  Pose,
+  Vector2,
+} from "@foxglove/schemas";
+import { Builder } from "flatbuffers";
+
+import {
+  FrameTransform as FbFrameTransform,
+  Quaternion as FbQuaternion,
+  Time as FbTime,
+  Vector3 as FbVector3,
+} from "../../flatbuffer/output/FrameTransform_generated";
+import {
+  PackedElementField as FbPackedElementField,
+  Pose as FbPose,
+  Grid as FbGrid,
+  Vector2 as FbVector2,
+} from "../../flatbuffer/output/Grid_generated";
+
+export function buildQuaternion(builder: Builder, quatJson: Quaternion): number {
+  FbQuaternion.startQuaternion(builder);
+  FbQuaternion.addX(builder, quatJson.x);
+  FbQuaternion.addY(builder, quatJson.y);
+  FbQuaternion.addZ(builder, quatJson.z);
+  FbQuaternion.addW(builder, quatJson.w);
+  return FbQuaternion.endQuaternion(builder);
+}
+
+export function buildVector2(builder: Builder, json: Vector2): number {
+  FbVector2.startVector2(builder);
+  FbVector2.addX(builder, json.x);
+  FbVector2.addY(builder, json.y);
+  return FbVector2.endVector2(builder);
+}
+
+export function buildVector3(builder: Builder, json: Vector3): number {
+  FbVector3.startVector3(builder);
+  FbVector3.addX(builder, json.x);
+  FbVector3.addY(builder, json.y);
+  FbVector3.addZ(builder, json.z);
+  return FbVector3.endVector3(builder);
+}
+
+export function buildPose(builder: Builder, json: Pose): number {
+  const pos = buildVector3(builder, json.position);
+  const quat = buildQuaternion(builder, json.orientation);
+  FbPose.startPose(builder);
+  FbPose.addOrientation(builder, quat);
+  FbPose.addPosition(builder, pos);
+  return FbPose.endPose(builder);
+}
+
+export function buildTfMessage(builder: Builder, tfJson: FrameTransform): number {
+  const parentFrameId = builder.createString(tfJson.parent_frame_id);
+  const childFrameId = builder.createString(tfJson.child_frame_id);
+
+  const quat = buildQuaternion(builder, tfJson.rotation);
+
+  const vec3 = buildVector3(builder, tfJson.translation);
+
+  FbFrameTransform.startFrameTransform(builder);
+  FbFrameTransform.addParentFrameId(builder, parentFrameId);
+  FbFrameTransform.addChildFrameId(builder, childFrameId);
+  FbFrameTransform.addTranslation(builder, vec3);
+  FbFrameTransform.addRotation(builder, quat);
+  FbFrameTransform.addTimestamp(
+    builder,
+    FbTime.createTime(builder, BigInt(tfJson.timestamp.sec), tfJson.timestamp.nsec),
+  );
+
+  const tf = FbFrameTransform.endFrameTransform(builder);
+  return tf;
+}
+
+export function buildPackedElementField(builder: Builder, json: PackedElementField): number {
+  const name = builder.createString(json.name);
+  FbPackedElementField.startPackedElementField(builder);
+  FbPackedElementField.addName(builder, name);
+  FbPackedElementField.addOffset(builder, json.offset);
+  FbPackedElementField.addType(builder, json.type);
+  return FbPackedElementField.endPackedElementField(builder);
+}
+
+export function buildGridMessage(builder: Builder, json: Grid): number {
+  const frameId = builder.createString(json.frame_id);
+
+  const pose = buildPose(builder, json.pose);
+
+  const cellSize = buildVector2(builder, json.cell_size);
+  const data = FbGrid.createDataVector(builder, json.data);
+
+  const fbFields = [];
+  for (const field of json.fields) {
+    fbFields.push(buildPackedElementField(builder, field));
+  }
+  const fieldVector = FbGrid.createFieldsVector(builder, fbFields);
+
+  FbGrid.startGrid(builder);
+  FbGrid.addTimestamp(
+    builder,
+    FbTime.createTime(builder, BigInt(json.timestamp.sec), json.timestamp.nsec),
+  );
+  FbGrid.addFrameId(builder, frameId);
+  FbGrid.addPose(builder, pose);
+  FbGrid.addCellSize(builder, cellSize);
+  FbGrid.addCellStride(builder, json.cell_stride);
+  FbGrid.addColumnCount(builder, json.column_count);
+  FbGrid.addRowStride(builder, json.row_stride);
+  FbGrid.addFields(builder, fieldVector);
+  FbGrid.addData(builder, data);
+
+  return FbGrid.endGrid(builder);
+}
diff --git a/typescript/examples/flatbufferswriter/scripts/main.ts b/typescript/examples/flatbufferswriter/scripts/main.ts
new file mode 100644
index 0000000000..647c8374c6
--- /dev/null
+++ b/typescript/examples/flatbufferswriter/scripts/main.ts
@@ -0,0 +1,247 @@
+import { Grid, NumericType } from "@foxglove/schemas";
+import { McapWriter, IWritable } from "@mcap/core";
+import { Builder } from "flatbuffers";
+import fs from "fs";
+import { open, FileHandle } from "fs/promises";
+
+import { buildGridMessage, buildTfMessage } from "./flatbufferUtils";
+
+const QUAT_IDENTITY = { x: 0, y: 0, z: 0, w: 1 };
+
+// Mcap IWritable interface for nodejs FileHandle
+class FileHandleWritable implements IWritable {
+  private handle: FileHandle;
+  private totalBytesWritten = 0;
+
+  constructor(handle: FileHandle) {
+    this.handle = handle;
+  }
+
+  async write(buffer: Uint8Array): Promise<void> {
+    const written = await this.handle.write(buffer);
+    this.totalBytesWritten += written.bytesWritten;
+  }
+
+  position(): bigint {
+    return BigInt(this.totalBytesWritten);
+  }
+}
+function nextPowerOfTwo(numToRound: number) {
+  let nextPower = 1;
+  while (nextPower < numToRound) {
+    nextPower *= 2;
+  }
+  return nextPower;
+}
+const scriptParameters = {
+  mcapTimeLength: 10000, //ms
+  gridMessageFrequency: 20, //hz
+};
+
+const gridParameters = {
+  cell_size: { x: 0.1, y: 0.1 },
+  column_count: 512,
+  row_count: 512,
+  cell_stride: 4,
+  row_stride: 0,
+};
+
+// set row stride to be next largest power of 2
+gridParameters.row_stride = nextPowerOfTwo(
+  gridParameters.column_count * gridParameters.cell_stride,
+);
+console.log(`row stride ${gridParameters.row_stride}`);
+
+interface GridDataFuncParams {
+  x: number;
+  y: number;
+  i: number;
+  rows: number;
+  cols: number;
+  time: number;
+}
+
+// functions to generate data for a grid message based off of time, placement and grid params
+const fieldDataFuncs: { [k: string]: (x: GridDataFuncParams) => number } = {
+  sinPlusCos: ({ x, y }: GridDataFuncParams): number => {
+    return Math.sin(y) + Math.cos(x);
+  },
+  sinTimesCos: ({ x, y }: GridDataFuncParams): number => {
+    return Math.sin(y) * Math.cos(x);
+  },
+  growingSinTanCos: ({ x, y, rows, cols, time }: GridDataFuncParams): number => {
+    const z = time * 0.0000000001;
+    return (
+      z +
+      Math.sin(Math.cos(Math.tan((x / cols) * Math.PI + z))) +
+      Math.sin(Math.cos(Math.tan((y / rows) * Math.PI)))
+    );
+  },
+  sinTanCos: ({ x, y, rows, cols, time }: GridDataFuncParams): number => {
+    return (
+      Math.sin(Math.cos(Math.tan((x / cols) * Math.PI + time))) +
+      Math.sin(Math.cos(Math.tan((y / rows) * Math.PI)))
+    );
+  },
+};
+
+function makeNewGrid() {
+  const { cell_size, cell_stride, column_count, row_count, row_stride } = gridParameters;
+
+  const defaultGrid = {
+    timestamp: { sec: 0, nsec: 0 },
+    frame_id: "sensor",
+    pose: {
+      position: {
+        x: -0.5 * cell_size.x * row_count + 2,
+        y: -0.5 * cell_size.y * column_count + 2,
+        z: 0,
+      },
+      orientation: QUAT_IDENTITY,
+    },
+    cell_size,
+    column_count,
+    cell_stride,
+    row_stride,
+    fields: [{ name: "sinTanCos", offset: 0, type: NumericType.FLOAT32 }],
+  } as Omit<Grid, "data">;
+
+  return defaultGrid;
+}
+
+// adds data to the grid based on the grid parameters and fields
+function getGridData(grid: Omit<Grid, "data">, row_count: number, time: number): Uint8Array {
+  const { column_count, fields, cell_stride, row_stride } = grid;
+  const data = new Uint8Array(row_stride * row_count);
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+
+  for (let y = 0; y < row_count; y++) {
+    for (let x = 0; x < column_count; x++) {
+      const i = y * row_stride + x * cell_stride;
+      for (const field of fields) {
+        const { name, offset, type } = field;
+        if (type !== NumericType.FLOAT32) {
+          throw new Error("unsupported numeric types");
+        }
+        const dataFunc = fieldDataFuncs[name];
+        if (dataFunc) {
+          const value = dataFunc({
+            x,
+            y,
+            i,
+            rows: row_count,
+            cols: column_count,
+            time,
+          });
+          view.setFloat32(i + offset, value, true);
+        } else {
+          throw new Error(`missing data func for field: ${name}`);
+        }
+      }
+    }
+  }
+
+  return data;
+}
+
+async function main() {
+  const mcapFilePath = "flatbuffer.mcap";
+  const fileHandle = await open(mcapFilePath, "w");
+  const fileHandleWritable = new FileHandleWritable(fileHandle);
+
+  const mcapFile = new McapWriter({
+    writable: fileHandleWritable,
+    useStatistics: false,
+    useChunks: true,
+    useChunkIndex: true,
+  });
+
+  await mcapFile.start({
+    profile: "",
+    library: "mcap example",
+  });
+  const FrameTransformSchemaBuffer = fs.readFileSync(
+    `${__dirname}/../../flatbuffer/bin/FrameTransform.bfbs`,
+  );
+  const tfSchemaId = await mcapFile.registerSchema({
+    name: "foxglove.FrameTransform",
+    encoding: "flatbuffer",
+    data: FrameTransformSchemaBuffer,
+  });
+
+  const tfChannelId = await mcapFile.registerChannel({
+    schemaId: tfSchemaId,
+    topic: "tf",
+    messageEncoding: "flatbuffer",
+    metadata: new Map(),
+  });
+  const tfJson = {
+    timestamp: { sec: 0, nsec: 0 },
+    parent_frame_id: "base_link",
+    child_frame_id: "sensor",
+    translation: { x: 0, y: 0, z: 1 },
+    rotation: QUAT_IDENTITY,
+  };
+
+  const tfBuilder = new Builder();
+  const tf = buildTfMessage(tfBuilder, tfJson);
+  tfBuilder.finish(tf);
+
+  await mcapFile.addMessage({
+    channelId: tfChannelId,
+    sequence: 0,
+    publishTime: 0n,
+    logTime: 0n,
+    data: tfBuilder.asUint8Array(),
+  });
+
+  const binaryGridSchema = fs.readFileSync(`${__dirname}/../../flatbuffer/bin/Grid.bfbs`);
+
+  const gridSchemaId = await mcapFile.registerSchema({
+    name: "foxglove.Grid",
+    encoding: "flatbuffer",
+    data: binaryGridSchema,
+  });
+
+  const gridChannelId = await mcapFile.registerChannel({
+    schemaId: gridSchemaId,
+    topic: "grid",
+    messageEncoding: "flatbuffer",
+    metadata: new Map(),
+  });
+
+  const { mcapTimeLength, gridMessageFrequency } = scriptParameters;
+
+  const msTimeBetweenMessages = (1 / gridMessageFrequency) * 1000; // interval length = (1 / frequency) * 1000 (ms in a second)
+  let currTime = 0;
+  const getGridMessageData = (time: number) => {
+    const grid = makeNewGrid();
+    const data = getGridData(grid, gridParameters.row_count, time);
+    (grid as Grid).data = data;
+
+    const gridBuilder = new Builder();
+    const fbGrid = buildGridMessage(gridBuilder, grid as Grid);
+    gridBuilder.finish(fbGrid);
+
+    return gridBuilder.asUint8Array();
+  };
+  let count = 0;
+  while (currTime <= mcapTimeLength) {
+    console.log(`Adding grid ${count}`);
+    const nsTime = BigInt(currTime) * 1_000_000n;
+    const message = getGridMessageData(currTime);
+    await mcapFile.addMessage({
+      channelId: gridChannelId,
+      sequence: 0,
+      publishTime: nsTime,
+      logTime: nsTime,
+      data: message,
+    });
+    count++;
+    currTime += msTimeBetweenMessages;
+  }
+
+  await mcapFile.end();
+}
+
+void main();
diff --git a/typescript/examples/flatbufferswriter/tsconfig.cjs.json b/typescript/examples/flatbufferswriter/tsconfig.cjs.json
new file mode 100644
index 0000000000..ac31cb3343
--- /dev/null
+++ b/typescript/examples/flatbufferswriter/tsconfig.cjs.json
@@ -0,0 +1,7 @@
+{
+  "extends": "./tsconfig.json",
+  "compilerOptions": {
+    "outDir": "./dist/cjs",
+    "module": "commonjs"
+  }
+}
diff --git a/typescript/examples/flatbufferswriter/tsconfig.json b/typescript/examples/flatbufferswriter/tsconfig.json
new file mode 100644
index 0000000000..13b7e779c7
--- /dev/null
+++ b/typescript/examples/flatbufferswriter/tsconfig.json
@@ -0,0 +1,19 @@
+{
+  "extends": "@foxglove/tsconfig/base",
+  "include": ["./**/*"],
+  "compilerOptions": {
+    "noEmit": true,
+    "rootDir": "../..",
+    "outDir": "./dist/esm",
+    "lib": ["es2020", "dom"],
+    "paths": {
+      "@mcap/core": ["../../core/src"]
+    },
+
+    // required for tsconfig-paths https://github.com/dividab/tsconfig-paths/issues/143
+    "baseUrl": "."
+  },
+  "ts-node": {
+    "require": ["tsconfig-paths/register"]
+  }
+}
diff --git a/yarn.lock b/yarn.lock
index 8e47492aca..d0060959c0 100644
--- a/yarn.lock
+++ b/yarn.lock
@@ -654,6 +654,13 @@
     "@foxglove/rostime" "^1.1.0"
     heap "^0.2.6"
 
+"@foxglove/rosmsg-msgs-common@^2.0.0":
+  version "2.1.0"
+  resolved "https://registry.yarnpkg.com/@foxglove/rosmsg-msgs-common/-/rosmsg-msgs-common-2.1.0.tgz#8d348db60dc69670916ca9dc56999abb6de4134f"
+  integrity sha512-Lxu3CEb+Ko1hrLu1bIqvvoc8DvGW1FAA21sWW0MoTPTgoQ1Rnpke2Z4H6O78C8DwXPzXAqZIisgxfFM9NYiHPA==
+  dependencies:
+    "@foxglove/rosmsg" "^3.1.0"
+
 "@foxglove/rosmsg-serialization@1.2.3", "@foxglove/rosmsg-serialization@^1.2.3":
   version "1.2.3"
   resolved "https://registry.yarnpkg.com/@foxglove/rosmsg-serialization/-/rosmsg-serialization-1.2.3.tgz#742adc7a322357b0a19aaebb4fe7c2c557f55e92"
@@ -677,11 +684,26 @@
   dependencies:
     md5-typescript "^1.0.5"
 
+"@foxglove/rosmsg@^3.1.0":
+  version "3.1.0"
+  resolved "https://registry.yarnpkg.com/@foxglove/rosmsg/-/rosmsg-3.1.0.tgz#edbe3e2e743a5cc89df8195889a054e639230916"
+  integrity sha512-uvL3a3PRusrQw4tg91tsXfPMCWjsKV35nAaHkzPqRt4bZRzO2DAUMavCltjRux5Hc8WLPYWt77iUSk3KfxqUZQ==
+  dependencies:
+    md5-typescript "^1.0.5"
+
 "@foxglove/rostime@^1.1.0":
   version "1.1.1"
   resolved "https://registry.yarnpkg.com/@foxglove/rostime/-/rostime-1.1.1.tgz#6d9ec8e2264d7a44fa5066ce38cafed84d3c657a"
   integrity sha512-EI+rNLYRcrMHeyRsDuWjyDuTPwu9ZgQIk28RTsTxq1jO2zYFHuBni3TTC78BluS1QZD/iLxUeiGCfJl4eizB9A==
 
+"@foxglove/schemas@^0.7.1":
+  version "0.7.1"
+  resolved "https://registry.yarnpkg.com/@foxglove/schemas/-/schemas-0.7.1.tgz#d757152dfcf9c79dce0e26eedcc7c5462df3007e"
+  integrity sha512-9S6P6F1iZjSgoTzlyrDnzfxs2Mpc+v0fvcPo+JU5XeRiUdvAuohsXk/TR9ju/ZzGIGEhNFYACsu0KiRmtlc9bg==
+  dependencies:
+    "@foxglove/rosmsg-msgs-common" "^2.0.0"
+    tslib "^2"
+
 "@foxglove/tsconfig@1.1.0":
   version "1.1.0"
   resolved "https://registry.yarnpkg.com/@foxglove/tsconfig/-/tsconfig-1.1.0.tgz#48c37fffd6f349c3ee08a60fc62ccf636f3b59a6"
@@ -2444,6 +2466,11 @@ flat-cache@^3.0.4:
     flatted "^3.1.0"
     rimraf "^3.0.2"
 
+flatbuffers@^22.10.26:
+  version "22.10.26"
+  resolved "https://registry.yarnpkg.com/flatbuffers/-/flatbuffers-22.10.26.tgz#1b92e9559f5253ca7dc54e2b0eb63d2bcdbe329b"
+  integrity sha512-sdO3emf/BlLfOogW6KwHuXg16APR/E86jNacDXfSInPzt8SSEzxlHcqDekfM/IJ1CGC5bvDksfNufNhS8h1FRA==
+
 flatted@^3.1.0:
   version "3.2.4"
   resolved "https://registry.yarnpkg.com/flatted/-/flatted-3.2.4.tgz#28d9969ea90661b5134259f312ab6aa7929ac5e2"