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Add draft indexed mcap reader #22

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Run time

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Job	Run time
Build Python (3.12, ubuntu-latest)	31s
Build Python (3.10, macos-latest)	1m 2s
Build Python (3.11, macos-latest)	32s
Build Python (3.11, ubuntu-latest)	30s
Build Python (3.13, macos-latest)	39s
Build Python (3.13, ubuntu-latest)	31s
Build Python (3.10, ubuntu-latest)	29s
Build Python (3.12, macos-latest)	32s
	4m 46s