Ros2OdometryMessage

Fully qualified name: isaacsim::ros2::bridge::Ros2OdometryMessage

class Ros2OdometryMessage : public isaacsim::ros2::bridge::Ros2Message

Class implementing a nav_msgs/msg/Odometry message.

Provides functionality to write ROS 2 Odometry messages that contain position and velocity information in free space.

Subclassed by isaacsim::ros2::bridge::Ros2OdometryMessageImpl

Public Functions

virtual void writeHeader(

const double timeStamp,

const std::string &frameId,

) = 0

Write the message header.

Sets the header fields in a ROS 2 Odometry message.

Parameters:

• timeStamp – [in] Time (seconds).

• frameId – [in] Transform frame with which this data is associated.

virtual void writeData(

std::string &childFrame,

const pxr::GfVec3d &linearVelocity,

const pxr::GfVec3d &angularVelocity,

const pxr::GfVec3d &robotFront,

const pxr::GfVec3d &robotSide,

const pxr::GfVec3d &robotUp,

double unitScale,

const pxr::GfVec3d &position,

const pxr::GfQuatd &orientation,

bool publishRawVelocities,

) = 0

Write the message field values from the given arguments.

Sets the pose, twist, and child frame fields in a ROS 2 Odometry message. Optionally transforms velocities to the robot’s coordinate frame.

Parameters:

• childFrame – [in] Frame id the pose points to.

• linearVelocity – [in] Linear velocity.

• angularVelocity – [in] Angular velocity.

• robotFront – [in] Front normalized vector.

• robotSide – [in] Side normalized vector.

• robotUp – [in] Up normalized vector.

• unitScale – [in] Unit scale of the stage.

• position – [in] Position.

• orientation – [in] Orientation.

• publishRawVelocities – [in] If enabled, raw velocities are published. Otherwise velocities are projected in the robot frame before being published.

inline void *getPtr()

Retrieves the message pointer.

Returns the pointer to the underlying ROS 2 message if it has been properly created and initialized.

Note

This method does not perform type checking - the caller is responsible for proper casting to the appropriate message type.

Returns:

Pointer to the message or nullptr if not initialized.

virtual const void *getTypeSupportHandle() = 0

Gets the type support handle for the message.

Returns a pointer to the ROS IDL message type support data structure. The actual type depends on the message category:

• Topic: rosidl_message_type_support_t

• Service: rosidl_service_type_support_t

• Action: rosidl_action_type_support_t

Returns:

Pointer to the type support structure or nullptr.

Protected Attributes

void *m_msg = nullptr

Message pointer.