Hi, I'm want to contribute to making an IDL agnostic recorder/replayer, but with typeinfo. i have read dynsub and plan to do it following the practice.

basically i'll use dds_builtintopic_get_endpoint_type_info to obtain typeinfo, and then use dds_create_topic_descriptor to extract the topic desc.
then i'll serialization it so i can recreate the topic in the replay phase.

the following would be use dds_takecdr to obtain the sample buffer and serialize it too.

the replay the basically deserialize all needed info like topic name, topic desc and sample buffer, and then pub them.

and i'm considering use mcap as the save file format.

there are things i'm not sure. as the docs of dds_topic_descriptor says

• Since this type is not intended for public consumption it can change without warning.
  i'm not sure if it's good idea to rely on it.

and is it safe to just ignore qos? i'm not sure how to persistent it.

any other suggestions?

btw, i was also thinking to create a monitor tool based on c++, which is like cyberrt monitor in cyber_monitor, like as https://github.com/ApolloAuto/apollo/blob/master/docs/04_CyberRT/images/cyber_monitor.png. the details .