specification: add ros2idl to MCAP spec appendix #553
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I was going to write a comment that I thought ros2idl diverging from ros2msg and ros1msg (gendeps style) was a mistake.
However, I read the arguments in this PR and thought more about it, and it seems like a good choice that will simplify parsing. And, you can think of it as still being gendeps-compatible, only the first "anonymous message definition" is blank.
In fact, we could change the spec to support making the first anonymous message definition optional (and recommended to be blank) for ros2msg as well as ros2idl, and change the behavior in rosbag2_storage_mcap to explicitly specify the ===\nMSG: header for all schemas.
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Public-Facing Changes
Adds
ros2idlas a well-known schema encoding, as well as a more complete description of the concatenations scheme for.msgdefinitions.Description