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I tried rosbag tools to extract data type information from messages like: "rosmsg show /message_name" and this doesn't work if I haven't got the messages built in my system, but it works perfectly with the rest of messages built in my system.

So from your help I guess that "rqt_bag" is implemented in Python, since it can read messages and show the value published without the messages pre-built requirement.

Thanks you very much ahendrix!