Worked on the ros2/rosbag2 repository to enhance IDL-based messaging by implementing support for relative includes in local message definitions. This feature allows for more flexible composition of IDL files and reduces integration risks by improving the handling of message dependencies. The work included adding a missing message definition to complete the messaging path and addressing linter warnings to maintain continuous integration stability. Using C++ and IDL, with attention to regex and unit testing, the developer focused on reducing maintenance burdens and preventing build-time failures, ultimately improving downstream compatibility and reliability for projects relying on IDL-based message definitions.