diff --git a/ros_foxglove_msgs/ros1/CompressedVideo.msg b/ros_foxglove_msgs/ros1/CompressedVideo.msg
index 991c967..7319ad3 100644
--- a/ros_foxglove_msgs/ros1/CompressedVideo.msg
+++ b/ros_foxglove_msgs/ros1/CompressedVideo.msg
@@ -3,13 +3,13 @@
 
 # Generated by https://github.com/foxglove/schemas
 
-# Timestamp of image
+# Timestamp of video frame
 time timestamp
 
-# Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+# Frame of reference for the video. The origin of the frame is the optical center of the camera. +x points to the right in the video, +y points down, and +z points into the plane of the video.
 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).
+# 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). B frames should be avoided because of their inconsistency with recordings directly written from live sources.
 uint8[] data
 
 # Video format
diff --git a/ros_foxglove_msgs/ros2/CompressedVideo.msg b/ros_foxglove_msgs/ros2/CompressedVideo.msg
index 03379ff..dba6432 100644
--- a/ros_foxglove_msgs/ros2/CompressedVideo.msg
+++ b/ros_foxglove_msgs/ros2/CompressedVideo.msg
@@ -3,13 +3,13 @@
 
 # Generated by https://github.com/foxglove/schemas
 
-# Timestamp of image
+# Timestamp of video frame
 builtin_interfaces/Time timestamp
 
-# Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+# Frame of reference for the video. The origin of the frame is the optical center of the camera. +x points to the right in the video, +y points down, and +z points into the plane of the video.
 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).
+# 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). B frames should be avoided because of their inconsistency with recordings directly written from live sources.
 uint8[] data
 
 # Video format
diff --git a/schemas/README.md b/schemas/README.md
index 05ba776..ad13482 100644
--- a/schemas/README.md
+++ b/schemas/README.md
@@ -634,7 +634,7 @@ time
 </td>
 <td>
 
-Timestamp of image
+Timestamp of video frame
 
 </td>
 </tr>
@@ -647,7 +647,7 @@ string
 </td>
 <td>
 
-Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+Frame of reference for the video. The origin of the frame is the optical center of the camera. +x points to the right in the video, +y points down, and +z points into the plane of the video.
 
 </td>
 </tr>
@@ -660,7 +660,7 @@ bytes
 </td>
 <td>
 
-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).
+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). B frames should be avoided because of their inconsistency with recordings directly written from live sources.
 
 </td>
 </tr>
diff --git a/schemas/flatbuffer/CompressedVideo.fbs b/schemas/flatbuffer/CompressedVideo.fbs
index de3a482..26284a4 100644
--- a/schemas/flatbuffer/CompressedVideo.fbs
+++ b/schemas/flatbuffer/CompressedVideo.fbs
@@ -6,13 +6,13 @@ namespace foxglove;
 
 /// A single frame of a compressed video bitstream
 table CompressedVideo {
-  /// Timestamp of image
+  /// Timestamp of video frame
   timestamp:Time;
 
-  /// Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+  /// Frame of reference for the video. The origin of the frame is the optical center of the camera. +x points to the right in the video, +y points down, and +z points into the plane of the video.
   frame_id:string;
 
-  /// 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).
+  /// 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). B frames should be avoided because of their inconsistency with recordings directly written from live sources.
   data:[uint8];
 
   /// Video format
diff --git a/schemas/jsonschema/CompressedVideo.json b/schemas/jsonschema/CompressedVideo.json
index 21f167b..8303675 100644
--- a/schemas/jsonschema/CompressedVideo.json
+++ b/schemas/jsonschema/CompressedVideo.json
@@ -18,16 +18,16 @@
           "maximum": 999999999
         }
       },
-      "description": "Timestamp of image"
+      "description": "Timestamp of video frame"
     },
     "frame_id": {
       "type": "string",
-      "description": "Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image."
+      "description": "Frame of reference for the video. The origin of the frame is the optical center of the camera. +x points to the right in the video, +y points down, and +z points into the plane of the video."
     },
     "data": {
       "type": "string",
       "contentEncoding": "base64",
-      "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)."
+      "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). B frames should be avoided because of their inconsistency with recordings directly written from live sources."
     },
     "format": {
       "type": "string",
diff --git a/schemas/jsonschema/index.ts b/schemas/jsonschema/index.ts
index c168153..07f775c 100644
--- a/schemas/jsonschema/index.ts
+++ b/schemas/jsonschema/index.ts
@@ -351,16 +351,16 @@ export const CompressedVideo = {
           "maximum": 999999999
         }
       },
-      "description": "Timestamp of image"
+      "description": "Timestamp of video frame"
     },
     "frame_id": {
       "type": "string",
-      "description": "Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image."
+      "description": "Frame of reference for the video. The origin of the frame is the optical center of the camera. +x points to the right in the video, +y points down, and +z points into the plane of the video."
     },
     "data": {
       "type": "string",
       "contentEncoding": "base64",
-      "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)."
+      "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). B frames should be avoided because of their inconsistency with recordings directly written from live sources."
     },
     "format": {
       "type": "string",
diff --git a/schemas/omgidl/foxglove/CompressedVideo.idl b/schemas/omgidl/foxglove/CompressedVideo.idl
index 3b39e1c..b0456c1 100644
--- a/schemas/omgidl/foxglove/CompressedVideo.idl
+++ b/schemas/omgidl/foxglove/CompressedVideo.idl
@@ -6,13 +6,13 @@ module foxglove {
 
 // A single frame of a compressed video bitstream
 struct CompressedVideo {
-  // Timestamp of image
+  // Timestamp of video frame
   Time timestamp;
 
-  // Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+  // Frame of reference for the video. The origin of the frame is the optical center of the camera. +x points to the right in the video, +y points down, and +z points into the plane of the video.
   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).
+  // 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). B frames should be avoided because of their inconsistency with recordings directly written from live sources.
   sequence<uint8> data;
 
   // Video format
diff --git a/schemas/proto/foxglove/CompressedVideo.proto b/schemas/proto/foxglove/CompressedVideo.proto
index 9d61961..f45be7a 100644
--- a/schemas/proto/foxglove/CompressedVideo.proto
+++ b/schemas/proto/foxglove/CompressedVideo.proto
@@ -8,13 +8,13 @@ package foxglove;
 
 // A single frame of a compressed video bitstream
 message CompressedVideo {
-  // Timestamp of image
+  // Timestamp of video frame
   google.protobuf.Timestamp timestamp = 1;
 
-  // Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+  // Frame of reference for the video. The origin of the frame is the optical center of the camera. +x points to the right in the video, +y points down, and +z points into the plane of the video.
   string frame_id = 2;
 
-  // 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).
+  // 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). B frames should be avoided because of their inconsistency with recordings directly written from live sources.
   bytes data = 3;
 
   // Video format
diff --git a/schemas/ros1/CompressedVideo.msg b/schemas/ros1/CompressedVideo.msg
index 991c967..7319ad3 100644
--- a/schemas/ros1/CompressedVideo.msg
+++ b/schemas/ros1/CompressedVideo.msg
@@ -3,13 +3,13 @@
 
 # Generated by https://github.com/foxglove/schemas
 
-# Timestamp of image
+# Timestamp of video frame
 time timestamp
 
-# Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+# Frame of reference for the video. The origin of the frame is the optical center of the camera. +x points to the right in the video, +y points down, and +z points into the plane of the video.
 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).
+# 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). B frames should be avoided because of their inconsistency with recordings directly written from live sources.
 uint8[] data
 
 # Video format
diff --git a/schemas/ros2/CompressedVideo.msg b/schemas/ros2/CompressedVideo.msg
index 03379ff..dba6432 100644
--- a/schemas/ros2/CompressedVideo.msg
+++ b/schemas/ros2/CompressedVideo.msg
@@ -3,13 +3,13 @@
 
 # Generated by https://github.com/foxglove/schemas
 
-# Timestamp of image
+# Timestamp of video frame
 builtin_interfaces/Time timestamp
 
-# Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+# Frame of reference for the video. The origin of the frame is the optical center of the camera. +x points to the right in the video, +y points down, and +z points into the plane of the video.
 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).
+# 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). B frames should be avoided because of their inconsistency with recordings directly written from live sources.
 uint8[] data
 
 # Video format
diff --git a/schemas/typescript/CompressedVideo.ts b/schemas/typescript/CompressedVideo.ts
index 8e7032f..cedb898 100644
--- a/schemas/typescript/CompressedVideo.ts
+++ b/schemas/typescript/CompressedVideo.ts
@@ -5,13 +5,13 @@ import { Time } from "./Time";
 
 /** A single frame of a compressed video bitstream */
 export type CompressedVideo = {
-  /** Timestamp of image */
+  /** Timestamp of video frame */
   timestamp: Time;
 
-  /** Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image. */
+  /** Frame of reference for the video. The origin of the frame is the optical center of the camera. +x points to the right in the video, +y points down, and +z points into the plane of the video. */
   frame_id: string;
 
-  /** 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). */
+  /** 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). B frames should be avoided because of their inconsistency with recordings directly written from live sources. */
   data: Uint8Array;
 
   /**