Ros2AckermannDriveStampedMessage

Fully qualified name: isaacsim::ros2::bridge::Ros2AckermannDriveStampedMessage

class Ros2AckermannDriveStampedMessage : public isaacsim::ros2::bridge::Ros2Message

Class implementing a ackermann_msgs/msg/AckermannDriveStamped.

Public Functions

virtual void writeHeader(

const double timeStamp,

const std::string &frameId,

) = 0

Write the message header.

Parameters:

• timeStamp – Time (seconds).

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

virtual void readData(

double &timeStamp,

std::string &frameId,

double &steeringAngle,

double &steeringAngleVelocity,

double &speed,

double &acceleration,

double &jerk,

) = 0

Read the message field values.

Parameters:

• timeStamp – Time (seconds).

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

• steeringAngle – Virtual angle.

• steeringAngleVelocity – Rate of change.

• speed – Forward speed.

• acceleration – Acceleration.

• jerk – Jerk.

virtual void writeData(

const double &steeringAngle,

const double &steeringAngleVelocity,

const double &speed,

const double &acceleration,

const double &jerk,

) = 0

Write the message field values from the given arguments.

Parameters:

• steeringAngle – Virtual angle.

• steeringAngleVelocity – Rate of change.

• speed – Forward speed.

• acceleration – Acceleration.

• jerk – Jerk.

inline void *getPtr()

Get the message pointer.

Returns:

The pointer to the message if it has been created and initialized properly, otherwise nullptr.

virtual const void *getTypeSupportHandle() = 0

Get the pointer to the struct that contains the ROS IDL message type support data.

The pointer points to a ROS IDL struct if the message if founded.

Message type	ROS IDL struct
Topic (Message)	rosidl_message_type_support_t
Service	rosidl_service_type_support_t
Action	rosidl_action_type_support_t

Returns:

The pointer to the struct, otherwise nullptr.

Protected Attributes

void *m_msg = nullptr

Message pointer.