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New Features

Convenience API for direct PointCloud2 compression (#58) — New SerializeCompressedPointCloud2() and ConvertToRosPointCloud2() functions allow compressing sensor_msgs::msg::PointCloud2 without needing the topic_converter node.
Rosbag converter: bag directory support — The converter now accepts full ROS2 bag directories as input (not just bare .mcap files), auto-detects metadata.yaml, and generates a transformed version alongside the output.
Single-threaded compression mode — New use_threads field in EncodingInfo (defaults to true). When false, compression runs inline without spawning a worker thread. Useful for simpler deployments and debugging.
Topic converter as composable component — topic_converter is now a rclcpp_components shared library, usable in component containers while retaining standalone executable support.

Bug Fixes

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Convenience API for direct PointCloud2 compression (#58) — New SerializeCompressedPointCloud2() and ConvertToRosPointCloud2() functions allow compressing sensor_msgs::msg::PointCloud2 without needing the topic_converter node.
Rosbag converter: bag directory support — The converter now accepts full ROS2 bag directories as input (not just bare .mcap files), auto-detects metadata.yaml, and generates a transformed version alongside the output.
Single-threaded compression mode — New use_threads field in EncodingInfo (defaults to true). When false, compression runs inline without spawning a worker thread. Useful for simpler deployments and debugging.
Topic converter as composable component — topic_converter is now a rclcpp_components shared library, usable in component containers while retaining standalone executable support.