TfAggregationManager#
Fully qualified name: isaacsim::ros2::nodes::TfAggregationManager
Structs Summary#
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class TfAggregationManager#
Aggregates TF submissions from multiple OGN publisher nodes into one ROS 2 TF publisher per topic group.
Topic groups are keyed by ROS context, topic name, static/dynamic mode, and QoS profile. Dynamic groups are flushed by the plugin’s stage update node after OmniGraph evaluation. Manual OmniGraph evaluation callers can explicitly call flushAll() if they need deterministic draining outside normal Kit playback.
Public Functions
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TfAggregationManager()#
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~TfAggregationManager()#
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TfAggregationManager(const TfAggregationManager&) = delete#
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TfAggregationManager &operator=(const TfAggregationManager&) = delete#
- const std::string &contributorName,
- isaacsim::ros2::core::Ros2Factory *factory,
- std::shared_ptr<isaacsim::ros2::core::Ros2NodeHandle> nodeHandle,
- isaacsim::ros2::core::Ros2ContextHandle *contextHandle,
- const std::string &topicName,
- bool staticPublisher,
- const isaacsim::ros2::core::Ros2QoSProfile &qos,
- bool publishWithoutVerification,
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void unregisterContributor(ContributorHandle handle)#
- bool submit(
- ContributorHandle handle,
- double timeStamp,
- const std::vector<isaacsim::ros2::core::TfTransformStamped> &transforms,
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void flushAll()#
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void reset()#
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TfAggregationManager()#