Ros2FactoryImpl#

Fully qualified name: isaacsim::ros2::bridge::Ros2FactoryImpl

class Ros2FactoryImpl : public isaacsim::ros2::bridge::Ros2Factory#

Concrete implementation of the ROS 2 factory interface.

Implements the Ros2Factory interface to provide creation methods for all ROS 2 entities used in the Isaac Sim bridge. This includes context handlers, node handlers, communication primitives, and various message types.

Public Functions

virtual std::shared_ptr<Ros2ContextHandle> createContextHandle()#

Creates a new ROS 2 context handle.

Returns:

std::shared_ptr<Ros2ContextHandle> Pointer to the created context handle

virtual std::shared_ptr<Ros2NodeHandle> createNodeHandle(
const char *name,
const char *namespaceName,
Ros2ContextHandle *contextHandle,
)#

Creates a new ROS 2 node handle.

Parameters:

  • name – [in] Name of the node

  • namespaceName – [in] Namespace for the node

  • contextHandle – [in] Pointer to the context handle for this node

Returns:

std::shared_ptr<Ros2NodeHandle> Pointer to the created node handle

virtual std::shared_ptr<Ros2Publisher> createPublisher(
Ros2NodeHandle *nodeHandle,
const char *topicName,
const void *typeSupport,
const Ros2QoSProfile &qos,
)#

Creates a new ROS 2 publisher.

Parameters:

  • nodeHandle – [in] Pointer to the node handle that will own this publisher

  • topicName – [in] Name of the topic to publish to

  • typeSupport – [in] Type support handle for the message type

  • qos – [in] Quality of Service settings for the publisher

Returns:

std::shared_ptr<Ros2Publisher> Pointer to the created publisher

virtual std::shared_ptr<Ros2Subscriber> createSubscriber(
Ros2NodeHandle *nodeHandle,
const char *topicName,
const void *typeSupport,
const Ros2QoSProfile &qos,
)#

Creates a new ROS 2 subscriber.

Parameters:

  • nodeHandle – [in] Pointer to the node handle that will own this subscriber

  • topicName – [in] Name of the topic to subscribe to

  • typeSupport – [in] Type support handle for the message type

  • qos – [in] Quality of Service settings for the subscriber

Returns:

std::shared_ptr<Ros2Subscriber> Pointer to the created subscriber

virtual std::shared_ptr<Ros2Service> createService(
Ros2NodeHandle *nodeHandle,
const char *serviceName,
const void *typeSupport,
const Ros2QoSProfile &qos,
)#

Creates a new ROS 2 service server.

Parameters:

  • nodeHandle – [in] Pointer to the node handle that will own this service

  • serviceName – [in] Name of the service

  • typeSupport – [in] Type support handle for the service type

  • qos – [in] Quality of Service settings for the service

Returns:

std::shared_ptr<Ros2Service> Pointer to the created service server

virtual std::shared_ptr<Ros2Client> createClient(
Ros2NodeHandle *nodeHandle,
const char *serviceName,
const void *typeSupport,
const Ros2QoSProfile &qos,
)#

Creates a new ROS 2 service client.

Parameters:

  • nodeHandle – [in] Pointer to the node handle that will own this client

  • serviceName – [in] Name of the service to connect to

  • typeSupport – [in] Type support handle for the service type

  • qos – [in] Quality of Service settings for the client

Returns:

std::shared_ptr<Ros2Client> Pointer to the created service client

virtual std::shared_ptr<Ros2ClockMessage> createClockMessage()#

Creates a Clock message.

virtual std::shared_ptr<Ros2ImuMessage> createImuMessage()#

Creates an IMU message.

virtual std::shared_ptr<Ros2CameraInfoMessage> createCameraInfoMessage(
)#

Creates a Camera Info message.

virtual std::shared_ptr<Ros2ImageMessage> createImageMessage()#

Creates an Image message.

virtual std::shared_ptr<Ros2NitrosBridgeImageMessage> createNitrosBridgeImageMessage(
)#

Creates a Nitros Bridge Image message.

virtual std::shared_ptr<Ros2BoundingBox2DMessage> createBoundingBox2DMessage(
)#

Creates a 2D Bounding Box message.

virtual std::shared_ptr<Ros2BoundingBox3DMessage> createBoundingBox3DMessage(
)#

Creates a 3D Bounding Box message.

virtual std::shared_ptr<Ros2OdometryMessage> createOdometryMessage(
)#

Creates an Odometry message.

virtual std::shared_ptr<Ros2RawTfTreeMessage> createRawTfTreeMessage(
)#

Creates a Raw Transform Tree message.

virtual std::shared_ptr<Ros2SemanticLabelMessage> createSemanticLabelMessage(
)#

Creates a Semantic Label message.

virtual std::shared_ptr<Ros2JointStateMessage> createJointStateMessage(
)#

Creates a Joint State message.

virtual std::shared_ptr<Ros2PointCloudMessage> createPointCloudMessage(
)#

Creates a Point Cloud message.

virtual std::shared_ptr<Ros2LaserScanMessage> createLaserScanMessage(
)#

Creates a Laser Scan message.

virtual std::shared_ptr<Ros2TfTreeMessage> createTfTreeMessage()#

Creates a Transform Tree message.

virtual std::shared_ptr<Ros2TwistMessage> createTwistMessage()#

Creates a Twist message.

virtual std::shared_ptr<Ros2AckermannDriveStampedMessage> createAckermannDriveStampedMessage(
)#

Creates an Ackermann Drive Stamped message.

virtual std::shared_ptr<Ros2Message> createDynamicMessage(
const std::string &pkgName,
const std::string &msgSubfolder,
const std::string &msgName,
BackendMessageType messageType = BackendMessageType::eMessage,
)#

Creates a dynamic message type at runtime.

Parameters:

  • pkgName – [in] Name of the ROS 2 package containing the message definition

  • msgSubfolder – [in] Subfolder containing the message definition (msg, srv, action)

  • msgName – [in] Name of the message type

  • messageType – [in] Type of the message (topic, service, action component)

Returns:

std::shared_ptr<Ros2Message> Pointer to the created dynamic message

virtual bool validateTopicName(const std::string &topicName)#

Validates a ROS 2 topic name.

Parameters:

topicName – [in] Name to validate

Returns:

bool True if the topic name is valid

virtual bool validateNamespaceName(const std::string &namespaceName)#

Validates a ROS 2 namespace name.

Parameters:

namespaceName – [in] Name to validate

Returns:

bool True if the namespace name is valid

virtual bool validateNodeName(const std::string &nodeName)#

Validates a ROS 2 node name.

Parameters:

nodeName – [in] Name to validate

Returns:

bool True if the node name is valid