def msg_type_to_str(msg_type):
    """Converts a message type to ROS topic type string

    Args:
        msg_type (type): A message type, such as sensor_msgs.msg.Image

    Returns:
        str: The message type string in ROS format: 'msg_set/TypeName'
    """
    return f"{str.split(str(msg_type)[8:],'.')[0]}/{msg_type.__name__}"