diff --git a/internal/__snapshots__/exportTypeScriptSchemas.test.ts.snap b/internal/__snapshots__/exportTypeScriptSchemas.test.ts.snap
index bba4d9f..7c49d57 100644
--- a/internal/__snapshots__/exportTypeScriptSchemas.test.ts.snap
+++ b/internal/__snapshots__/exportTypeScriptSchemas.test.ts.snap
@@ -204,13 +204,32 @@ export type CompressedVideo = {
    * Compressed video frame data.
    * 
    * For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.
+   * 
+   * Specifically, the requirements for different \`format\` values are:
+   * 
+   * - \`h264\`
+   *   - Use Annex B formatted data
+   *   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+   *   - Each message containing a key frame (IDR) must also include a SPS NAL unit
+   * 
+   * - \`h265\` (HEVC)
+   *   - Use Annex B formatted data
+   *   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+   *   - Each message containing a key frame (IRAP) must also include relevant VPS/SPS/PPS NAL units
+   * 
+   * - \`av1\`
+   *   - Use the "Low overhead bitstream format" (section 5.2)
+   *   - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame
+   *   - Each message containing a key frame must also include a Sequence Header OBU
    */
   data: Uint8Array;
 
   /**
    * Video format.
    * 
-   * Supported values: \`h264\` (Annex B formatted data only)
+   * Supported values: \`h264\`, \`h265\`, \`av1\`.
+   * 
+   * Note: compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms. See more about [H.265 support](https://caniuse.com/hevc) and [AV1 support](https://caniuse.com/av1).
    */
   format: string;
 };
diff --git a/internal/schemas.ts b/internal/schemas.ts
index 24ba5cf..88fb2d2 100644
--- a/internal/schemas.ts
+++ b/internal/schemas.ts
@@ -810,13 +810,32 @@ const CompressedVideo: FoxgloveMessageSchema = {
     {
       name: "data",
       type: { type: "primitive", name: "bytes" },
-      description:
-        "Compressed video frame data.\n\nFor packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.",
+      description: `Compressed video frame data.
+
+For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.
+
+Specifically, the requirements for different \`format\` values are:
+
+- \`h264\`
+  - Use Annex B formatted data
+  - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+  - Each message containing a key frame (IDR) must also include a SPS NAL unit
+
+- \`h265\` (HEVC)
+  - Use Annex B formatted data
+  - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+  - Each message containing a key frame (IRAP) must also include relevant VPS/SPS/PPS NAL units
+
+- \`av1\`
+  - Use the "Low overhead bitstream format" (section 5.2)
+  - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame
+  - Each message containing a key frame must also include a Sequence Header OBU`,
     },
     {
       name: "format",
       type: { type: "primitive", name: "string" },
-      description: "Video format.\n\nSupported values: `h264` (Annex B formatted data only)",
+      description:
+        "Video format.\n\nSupported values: `h264`, `h265`, `av1`.\n\nNote: compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms. See more about [H.265 support](https://caniuse.com/hevc) and [AV1 support](https://caniuse.com/av1).",
     },
   ],
 };
diff --git a/ros_foxglove_msgs/ros1/CompressedVideo.msg b/ros_foxglove_msgs/ros1/CompressedVideo.msg
index e8d8ec4..1534dea 100644
--- a/ros_foxglove_msgs/ros1/CompressedVideo.msg
+++ b/ros_foxglove_msgs/ros1/CompressedVideo.msg
@@ -14,9 +14,28 @@ string frame_id
 # Compressed video frame data.
 # 
 # For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.
+# 
+# Specifically, the requirements for different `format` values are:
+# 
+# - `h264`
+#   - Use Annex B formatted data
+#   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+#   - Each message containing a key frame (IDR) must also include a SPS NAL unit
+# 
+# - `h265` (HEVC)
+#   - Use Annex B formatted data
+#   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+#   - Each message containing a key frame (IRAP) must also include relevant VPS/SPS/PPS NAL units
+# 
+# - `av1`
+#   - Use the "Low overhead bitstream format" (section 5.2)
+#   - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame
+#   - Each message containing a key frame must also include a Sequence Header OBU
 uint8[] data
 
 # Video format.
 # 
-# Supported values: `h264` (Annex B formatted data only)
+# Supported values: `h264`, `h265`, `av1`.
+# 
+# Note: compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms. See more about [H.265 support](https://caniuse.com/hevc) and [AV1 support](https://caniuse.com/av1).
 string format
diff --git a/ros_foxglove_msgs/ros2/CompressedVideo.msg b/ros_foxglove_msgs/ros2/CompressedVideo.msg
index bbb48e0..ad42f00 100644
--- a/ros_foxglove_msgs/ros2/CompressedVideo.msg
+++ b/ros_foxglove_msgs/ros2/CompressedVideo.msg
@@ -14,9 +14,28 @@ string frame_id
 # Compressed video frame data.
 # 
 # For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.
+# 
+# Specifically, the requirements for different `format` values are:
+# 
+# - `h264`
+#   - Use Annex B formatted data
+#   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+#   - Each message containing a key frame (IDR) must also include a SPS NAL unit
+# 
+# - `h265` (HEVC)
+#   - Use Annex B formatted data
+#   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+#   - Each message containing a key frame (IRAP) must also include relevant VPS/SPS/PPS NAL units
+# 
+# - `av1`
+#   - Use the "Low overhead bitstream format" (section 5.2)
+#   - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame
+#   - Each message containing a key frame must also include a Sequence Header OBU
 uint8[] data
 
 # Video format.
 # 
-# Supported values: `h264` (Annex B formatted data only)
+# Supported values: `h264`, `h265`, `av1`.
+# 
+# Note: compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms. See more about [H.265 support](https://caniuse.com/hevc) and [AV1 support](https://caniuse.com/av1).
 string format
diff --git a/schemas/README.md b/schemas/README.md
index 1db6add..72e3de2 100644
--- a/schemas/README.md
+++ b/schemas/README.md
@@ -667,6 +667,23 @@ Compressed video frame data.
 
 For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.
 
+Specifically, the requirements for different `format` values are:
+
+- `h264`
+  - Use Annex B formatted data
+  - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+  - Each message containing a key frame (IDR) must also include a SPS NAL unit
+
+- `h265` (HEVC)
+  - Use Annex B formatted data
+  - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+  - Each message containing a key frame (IRAP) must also include relevant VPS/SPS/PPS NAL units
+
+- `av1`
+  - Use the "Low overhead bitstream format" (section 5.2)
+  - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame
+  - Each message containing a key frame must also include a Sequence Header OBU
+
 </td>
 </tr>
 <tr>
@@ -680,7 +697,9 @@ string
 
 Video format.
 
-Supported values: `h264` (Annex B formatted data only)
+Supported values: `h264`, `h265`, `av1`.
+
+Note: compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms. See more about [H.265 support](https://caniuse.com/hevc) and [AV1 support](https://caniuse.com/av1).
 
 </td>
 </tr>
diff --git a/schemas/flatbuffer/CompressedVideo.fbs b/schemas/flatbuffer/CompressedVideo.fbs
index 0a9a1a6..6ffebc5 100644
--- a/schemas/flatbuffer/CompressedVideo.fbs
+++ b/schemas/flatbuffer/CompressedVideo.fbs
@@ -17,11 +17,30 @@ table CompressedVideo {
   /// Compressed video frame data.
   /// 
   /// For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.
+  /// 
+  /// Specifically, the requirements for different `format` values are:
+  /// 
+  /// - `h264`
+  ///   - Use Annex B formatted data
+  ///   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+  ///   - Each message containing a key frame (IDR) must also include a SPS NAL unit
+  /// 
+  /// - `h265` (HEVC)
+  ///   - Use Annex B formatted data
+  ///   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+  ///   - Each message containing a key frame (IRAP) must also include relevant VPS/SPS/PPS NAL units
+  /// 
+  /// - `av1`
+  ///   - Use the "Low overhead bitstream format" (section 5.2)
+  ///   - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame
+  ///   - Each message containing a key frame must also include a Sequence Header OBU
   data:[uint8] (id: 2);
 
   /// Video format.
   /// 
-  /// Supported values: `h264` (Annex B formatted data only)
+  /// Supported values: `h264`, `h265`, `av1`.
+  /// 
+  /// Note: compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms. See more about [H.265 support](https://caniuse.com/hevc) and [AV1 support](https://caniuse.com/av1).
   format:string (id: 3);
 }
 
diff --git a/schemas/jsonschema/CompressedVideo.json b/schemas/jsonschema/CompressedVideo.json
index 5443f9f..88f5d1c 100644
--- a/schemas/jsonschema/CompressedVideo.json
+++ b/schemas/jsonschema/CompressedVideo.json
@@ -27,11 +27,11 @@
     "data": {
       "type": "string",
       "contentEncoding": "base64",
-      "description": "Compressed video frame data.\n\nFor packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead."
+      "description": "Compressed video frame data.\n\nFor packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.\n\nSpecifically, the requirements for different `format` values are:\n\n- `h264`\n  - Use Annex B formatted data\n  - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame\n  - Each message containing a key frame (IDR) must also include a SPS NAL unit\n\n- `h265` (HEVC)\n  - Use Annex B formatted data\n  - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame\n  - Each message containing a key frame (IRAP) must also include relevant VPS/SPS/PPS NAL units\n\n- `av1`\n  - Use the \"Low overhead bitstream format\" (section 5.2)\n  - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame\n  - Each message containing a key frame must also include a Sequence Header OBU"
     },
     "format": {
       "type": "string",
-      "description": "Video format.\n\nSupported values: `h264` (Annex B formatted data only)"
+      "description": "Video format.\n\nSupported values: `h264`, `h265`, `av1`.\n\nNote: compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms. See more about [H.265 support](https://caniuse.com/hevc) and [AV1 support](https://caniuse.com/av1)."
     }
   }
 }
diff --git a/schemas/jsonschema/index.ts b/schemas/jsonschema/index.ts
index 1e5f733..99d0db7 100644
--- a/schemas/jsonschema/index.ts
+++ b/schemas/jsonschema/index.ts
@@ -360,11 +360,11 @@ export const CompressedVideo = {
     "data": {
       "type": "string",
       "contentEncoding": "base64",
-      "description": "Compressed video frame data.\n\nFor packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead."
+      "description": "Compressed video frame data.\n\nFor packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.\n\nSpecifically, the requirements for different `format` values are:\n\n- `h264`\n  - Use Annex B formatted data\n  - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame\n  - Each message containing a key frame (IDR) must also include a SPS NAL unit\n\n- `h265` (HEVC)\n  - Use Annex B formatted data\n  - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame\n  - Each message containing a key frame (IRAP) must also include relevant VPS/SPS/PPS NAL units\n\n- `av1`\n  - Use the \"Low overhead bitstream format\" (section 5.2)\n  - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame\n  - Each message containing a key frame must also include a Sequence Header OBU"
     },
     "format": {
       "type": "string",
-      "description": "Video format.\n\nSupported values: `h264` (Annex B formatted data only)"
+      "description": "Video format.\n\nSupported values: `h264`, `h265`, `av1`.\n\nNote: compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms. See more about [H.265 support](https://caniuse.com/hevc) and [AV1 support](https://caniuse.com/av1)."
     }
   }
 };
diff --git a/schemas/omgidl/foxglove/CompressedVideo.idl b/schemas/omgidl/foxglove/CompressedVideo.idl
index 0853692..a2e664b 100644
--- a/schemas/omgidl/foxglove/CompressedVideo.idl
+++ b/schemas/omgidl/foxglove/CompressedVideo.idl
@@ -17,11 +17,30 @@ struct CompressedVideo {
   // Compressed video frame data.
   // 
   // For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.
+  // 
+  // Specifically, the requirements for different `format` values are:
+  // 
+  // - `h264`
+  //   - Use Annex B formatted data
+  //   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+  //   - Each message containing a key frame (IDR) must also include a SPS NAL unit
+  // 
+  // - `h265` (HEVC)
+  //   - Use Annex B formatted data
+  //   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+  //   - Each message containing a key frame (IRAP) must also include relevant VPS/SPS/PPS NAL units
+  // 
+  // - `av1`
+  //   - Use the "Low overhead bitstream format" (section 5.2)
+  //   - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame
+  //   - Each message containing a key frame must also include a Sequence Header OBU
   sequence<uint8> data;
 
   // Video format.
   // 
-  // Supported values: `h264` (Annex B formatted data only)
+  // Supported values: `h264`, `h265`, `av1`.
+  // 
+  // Note: compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms. See more about [H.265 support](https://caniuse.com/hevc) and [AV1 support](https://caniuse.com/av1).
   string format;
 };
 
diff --git a/schemas/proto/foxglove/CompressedVideo.proto b/schemas/proto/foxglove/CompressedVideo.proto
index 37e5ca5..74e79e0 100644
--- a/schemas/proto/foxglove/CompressedVideo.proto
+++ b/schemas/proto/foxglove/CompressedVideo.proto
@@ -19,10 +19,29 @@ message CompressedVideo {
   // Compressed video frame data.
   // 
   // For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.
+  // 
+  // Specifically, the requirements for different `format` values are:
+  // 
+  // - `h264`
+  //   - Use Annex B formatted data
+  //   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+  //   - Each message containing a key frame (IDR) must also include a SPS NAL unit
+  // 
+  // - `h265` (HEVC)
+  //   - Use Annex B formatted data
+  //   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+  //   - Each message containing a key frame (IRAP) must also include relevant VPS/SPS/PPS NAL units
+  // 
+  // - `av1`
+  //   - Use the "Low overhead bitstream format" (section 5.2)
+  //   - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame
+  //   - Each message containing a key frame must also include a Sequence Header OBU
   bytes data = 3;
 
   // Video format.
   // 
-  // Supported values: `h264` (Annex B formatted data only)
+  // Supported values: `h264`, `h265`, `av1`.
+  // 
+  // Note: compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms. See more about [H.265 support](https://caniuse.com/hevc) and [AV1 support](https://caniuse.com/av1).
   string format = 4;
 }
diff --git a/schemas/ros1/CompressedVideo.msg b/schemas/ros1/CompressedVideo.msg
index e8d8ec4..1534dea 100644
--- a/schemas/ros1/CompressedVideo.msg
+++ b/schemas/ros1/CompressedVideo.msg
@@ -14,9 +14,28 @@ string frame_id
 # Compressed video frame data.
 # 
 # For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.
+# 
+# Specifically, the requirements for different `format` values are:
+# 
+# - `h264`
+#   - Use Annex B formatted data
+#   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+#   - Each message containing a key frame (IDR) must also include a SPS NAL unit
+# 
+# - `h265` (HEVC)
+#   - Use Annex B formatted data
+#   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+#   - Each message containing a key frame (IRAP) must also include relevant VPS/SPS/PPS NAL units
+# 
+# - `av1`
+#   - Use the "Low overhead bitstream format" (section 5.2)
+#   - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame
+#   - Each message containing a key frame must also include a Sequence Header OBU
 uint8[] data
 
 # Video format.
 # 
-# Supported values: `h264` (Annex B formatted data only)
+# Supported values: `h264`, `h265`, `av1`.
+# 
+# Note: compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms. See more about [H.265 support](https://caniuse.com/hevc) and [AV1 support](https://caniuse.com/av1).
 string format
diff --git a/schemas/ros2/CompressedVideo.msg b/schemas/ros2/CompressedVideo.msg
index bbb48e0..ad42f00 100644
--- a/schemas/ros2/CompressedVideo.msg
+++ b/schemas/ros2/CompressedVideo.msg
@@ -14,9 +14,28 @@ string frame_id
 # Compressed video frame data.
 # 
 # For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.
+# 
+# Specifically, the requirements for different `format` values are:
+# 
+# - `h264`
+#   - Use Annex B formatted data
+#   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+#   - Each message containing a key frame (IDR) must also include a SPS NAL unit
+# 
+# - `h265` (HEVC)
+#   - Use Annex B formatted data
+#   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+#   - Each message containing a key frame (IRAP) must also include relevant VPS/SPS/PPS NAL units
+# 
+# - `av1`
+#   - Use the "Low overhead bitstream format" (section 5.2)
+#   - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame
+#   - Each message containing a key frame must also include a Sequence Header OBU
 uint8[] data
 
 # Video format.
 # 
-# Supported values: `h264` (Annex B formatted data only)
+# Supported values: `h264`, `h265`, `av1`.
+# 
+# Note: compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms. See more about [H.265 support](https://caniuse.com/hevc) and [AV1 support](https://caniuse.com/av1).
 string format
diff --git a/schemas/typescript/CompressedVideo.ts b/schemas/typescript/CompressedVideo.ts
index 132a45f..9be37fb 100644
--- a/schemas/typescript/CompressedVideo.ts
+++ b/schemas/typescript/CompressedVideo.ts
@@ -19,13 +19,32 @@ export type CompressedVideo = {
    * Compressed video frame data.
    * 
    * For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.
+   * 
+   * Specifically, the requirements for different `format` values are:
+   * 
+   * - `h264`
+   *   - Use Annex B formatted data
+   *   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+   *   - Each message containing a key frame (IDR) must also include a SPS NAL unit
+   * 
+   * - `h265` (HEVC)
+   *   - Use Annex B formatted data
+   *   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+   *   - Each message containing a key frame (IRAP) must also include relevant VPS/SPS/PPS NAL units
+   * 
+   * - `av1`
+   *   - Use the "Low overhead bitstream format" (section 5.2)
+   *   - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame
+   *   - Each message containing a key frame must also include a Sequence Header OBU
    */
   data: Uint8Array;
 
   /**
    * Video format.
    * 
-   * Supported values: `h264` (Annex B formatted data only)
+   * Supported values: `h264`, `h265`, `av1`.
+   * 
+   * Note: compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms. See more about [H.265 support](https://caniuse.com/hevc) and [AV1 support](https://caniuse.com/av1).
    */
   format: string;
 };