Simultaneously save protobuf and ros1 msg

[Muxindawang]

I want to deserialize the data of type std, msgs, and String in Rosbag into protobuf and save it as an MCAP, and also save other topics to MCAP. However, my code below did not save topics other than "/perception/music/obstacles" to MCAP

import rosbag
import argparse
from mcap_protobuf.writer import Writer
from header_pb2 import Header
from object_pb2 import TrackedObjects
from object_pb2 import TrackedObject
import mcap_ros1.writer as ROSWriter
import std_msgs.msg
class TransBagToMcap:
	def __init__(self, from_path, save_dir):
		self.from_path = from_path
		self.save_dir = save_dir
		self.serialize_topics = ["/perception/fusion/obstacles"]

	def convert_bag_to_mcap(self):
		with rosbag.Bag(self.from_path, 'r') as bag, open(self.save_dir, "wb") as f, Writer(f) as mcap_writer:
			ros_writer = ROSWriter.Writer(f)
			for topic, msg, t in bag.read_messages():
				if topic in self.serialize_topics:
					track_objects = TrackedObjects()
					track_objects.ParseFromString(msg.data)
					print()
					mcap_writer.write_message(
						topic = topic,
						message = track_objects,
						log_time = t.to_nsec(),
						publish_time = t.to_nsec()
					)
				else:
					ros_writer.write_message(topic, msg)
					print(topic)
			ros_writer.finish()


if __name__ == '__main__':
	parser = argparse.ArgumentParser(description='Convert ROS bag file to MCAP file.')
	parser.add_argument('--bag_path', type=str, required=True, help='Path to the input ROS bag file')
	parser.add_argument('--output_path', type=str, required=True, help='Path to the output MCAP file')
	args = parser.parse_args()

	trans_bag_to_mcap = TransBagToMcap(args.bag_path, args.output_path)
	trans_bag_to_mcap.convert_bag_to_mcap()