Implement direct ros1 (de)serialization

docs/examples/save_images_rosbag1.py

@@ -3,7 +3,7 @@
 import numpy
 
 from rosbags.rosbag1 import Writer
-from rosbags.serde import cdr_to_ros1, serialize_cdr
+from rosbags.serde import serialize_ros1
 from rosbags.typesys.types import builtin_interfaces__msg__Time as Time
 from rosbags.typesys.types import sensor_msgs__msg__CompressedImage as CompressedImage
 from rosbags.typesys.types import std_msgs__msg__Header as Header
@@ -39,8 +39,5 @@ def save_images() -> None:
             writer.write(
                 conn,
                 timestamp,
-                cdr_to_ros1(
-                    serialize_cdr(message, CompressedImage.__msgtype__),
-                    CompressedImage.__msgtype__,
-                ),
+                serialize_ros1(message, CompressedImage.__msgtype__),
             )

docs/topics/serde.rst

@@ -15,6 +15,16 @@ Deserialize a CDR bytes object using :py:func:`deserialize_cdr() <rosbags.serde.
    # rawdata is of type bytes and contains serialized message
    msg = deserialize_cdr(rawdata, 'geometry_msgs/msg/Quaternion')
 
+Deserialize a ROS1 bytes object using :py:func:`deserialize_ros1() <rosbags.serde.deserialize_ros1>`:
+
+.. code-block:: python
+
+   from rosbags.serde import deserialize_ros1
+
+   # rawdata is of type bytes and contains serialized message
+   msg = deserialize_ros1(rawdata, 'geometry_msgs/msg/Quaternion')
+
+
 Serialization
 ---------------
 
@@ -29,3 +39,11 @@ Serialize a message with CDR using :py:func:`serialize_cdr() <rosbags.serde.seri
 
    # serialize message with explicit endianess
    serialized = serialize_cdr(msg, 'geometry_msgs/msg/Quaternion', little_endian=False)
+
+Serialize a message with ROS1 using :py:func:`serialize_ros1() <rosbags.serde.serialize_ros1>`:
+   
+.. code-block:: python
+
+   from rosbags.serde import serialize_ros1
+
+   serialized = serialize_ros1(msg, 'geometry_msgs/msg/Quaternion')