code: def get_msg_info(yaml_info, topics, parse_header=True):
      '''
      Get info from all of the messages about what they contain
      and will be added to the dataframe
      '''
      topic_info = yaml_info['topics']
      msgs = {}
      classes = {}
  
      for topic in topics:
          base_key = get_key_name(topic)
          msg_paths = []
          msg_types = {}
          for info in topic_info:
              if info['topic'] == topic:
                  msg_class = get_message_class(info['type'])
                  if msg_class is None:
                      warnings.warn(
                          'Could not find types for ' + topic + ' skpping ')
                  else:
                      (msg_paths, msg_types) = get_base_fields(msg_class(), "",
                                                               parse_header)
                  msgs[topic] = msg_paths
                  classes[topic] = msg_types
      return (msgs, classesf get_msg_info(yaml_info, topics, parse_header=True):
      '''
      Get info from all of the messages about what they contain
      and will be added to the dataframe
      '''
      topic_info = yaml_info['topics']
      msgs = {}
      classes = {}
  
      for topic in topics:
          base_key = get_key_name(topic)
          msg_paths = []
          msg_types = {}
          for info in topic_info:
              if info['topic'] == topic:
                  msg_class = get_message_class(info['type'])
                  if msg_class is None:
                      warnings.warn(
                          'Could not find types for ' + topic + ' skpping ')
                  else:
                      (msg_paths, msg_types) = get_base_fields(msg_class(), "",
                                                               parse_header)
                  msgs[topic] = msg_paths
                  classes[topic] = msg_types
      return (msgs, classes)
docs: Get info from all of the messages about what they contain
      and will be added to the dataframe