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RawImage: document encodings in schemas #1172

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Job	Run time
rust	57s
ROS noetic	1m 19s
typescript	1m 24s
ROS foxy	2m 25s
ROS galactic	2m 1s
ROS humble	2m 26s
ROS iron	2m 36s
ROS jazzy	2m 30s
ROS rolling	2m 33s
	18m 11s