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I stumbled across #874 and dug in.
The issue seems to be caused by the fact readMessageV2 expects a message to be present on the wire, but a compacted topic may return a "RecordBatch" with no records (when an offset gets compacted out).
The proposed fix loops reading additional headers when both RecordBatch is used ( i.e. magic number 2 ) and when the returned RecordBatch has zero records.
If the maintainers request any additional work, I'm happy to let someone else complete the work as I don't know when I'd be able to come back to this.