Ros2Factory#

Fully qualified name: isaacsim::ros2::bridge::Ros2Factory

class Ros2Factory#

Base class for creating ROS 2 related functions/objects according to the sourced ROS 2 distribution.

Public Functions

virtual ~Ros2Factory() = default#

Destructor.

virtual std::shared_ptr<Ros2ContextHandle> createContextHandle() = 0#

Create a ROS 2 context handler.

Returns:

Pointer to the context handler.

virtual std::shared_ptr<Ros2NodeHandle> createNodeHandle(
const char *name,
const char *namespaceName,
Ros2ContextHandle *contextHandle,
) = 0#

Create a ROS 2 node handler.

Parameters:

  • name – Name of the node.

  • namespaceName – Namespace of the node.

  • contextHandle – Context handler.

Returns:

Pointer to the node handler.

virtual std::shared_ptr<Ros2Publisher> createPublisher(
Ros2NodeHandle *nodeHandle,
const char *topicName,
const void *typeSupport,
const Ros2QoSProfile &qos,
) = 0#

Create a ROS 2 publisher.

Parameters:

  • nodeHandle – Node handler.

  • topicName – Name of the topic to publish on.

  • typeSupport – Message type support.

  • qos – Quality of service profile.

Returns:

Pointer to the publisher.

virtual std::shared_ptr<Ros2Subscriber> createSubscriber(
Ros2NodeHandle *nodeHandle,
const char *topicName,
const void *typeSupport,
const Ros2QoSProfile &qos,
) = 0#

Create a ROS 2 subscriber.

Parameters:

  • nodeHandle – Node handler.

  • topicName – Name of the topic to subscribe to.

  • typeSupport – Message type support.

  • qos – Quality of Service profile.

Returns:

Pointer to the subscriber.

virtual std::shared_ptr<Ros2Service> createService(
Ros2NodeHandle *nodeHandle,
const char *serviceName,
const void *typeSupport,
const Ros2QoSProfile &qos,
) = 0#

Create a ROS 2 service server.

Parameters:

  • nodeHandle – Node handler.

  • serviceName – Name of the service.

  • typeSupport – Message type support.

  • qos – Quality of Service profile.

Returns:

Pointer to the service server.

virtual std::shared_ptr<Ros2Client> createClient(
Ros2NodeHandle *nodeHandle,
const char *serviceName,
const void *typeSupport,
const Ros2QoSProfile &qos,
) = 0#

Create a ROS 2 service client.

Parameters:

  • nodeHandle – Node handler.

  • serviceName – Name of the service.

  • typeSupport – Message type support.

  • qos – Quality of Service profile.

Returns:

Pointer to the service client.

virtual std::shared_ptr<Ros2ClockMessage> createClockMessage() = 0#

Create a ROS 2 rosgraph_msgs/msg/Clock message.

Returns:

Pointer to the message.

virtual std::shared_ptr<Ros2ImuMessage> createImuMessage() = 0#

Create a ROS 2 sensor_msgs/msg/Imu message.

Returns:

Pointer to the message.

virtual std::shared_ptr<Ros2CameraInfoMessage> createCameraInfoMessage(
) = 0#

Create a ROS 2 sensor_msgs/msg/CameraInfo message.

Returns:

Pointer to the message.

virtual std::shared_ptr<Ros2ImageMessage> createImageMessage() = 0#

Create a ROS 2 sensor_msgs/msg/Image message.

Returns:

Pointer to the message.

virtual std::shared_ptr<Ros2NitrosBridgeImageMessage> createNitrosBridgeImageMessage(
) = 0#

Create a ROS 2 isaac_ros_nitros_bridge_interfaces/msg/NitrosBridgeImage message.

Returns:

Pointer to the message.

virtual std::shared_ptr<Ros2BoundingBox2DMessage> createBoundingBox2DMessage(
) = 0#

Create a ROS 2 vision_msgs/msg/Detection2DArray message.

Returns:

Pointer to the message.

virtual std::shared_ptr<Ros2BoundingBox3DMessage> createBoundingBox3DMessage(
) = 0#

Create a ROS 2 vision_msgs/msg/Detection3DArray message.

Returns:

Pointer to the message.

virtual std::shared_ptr<Ros2OdometryMessage> createOdometryMessage(
) = 0#

Create a ROS 2 nav_msgs/msg/Odometry message.

Returns:

Pointer to the message.

virtual std::shared_ptr<Ros2RawTfTreeMessage> createRawTfTreeMessage(
) = 0#

Create a ROS 2 tf2_msgs/msg/TFMessage message.

Returns:

Pointer to the message.

virtual std::shared_ptr<Ros2SemanticLabelMessage> createSemanticLabelMessage(
) = 0#

Create a ROS 2 std_msgs/msg/String message as semantic label.

Returns:

Pointer to the message.

virtual std::shared_ptr<Ros2JointStateMessage> createJointStateMessage(
) = 0#

Create a ROS 2 sensor_msgs/msg/JointState message.

Returns:

Pointer to the message.

virtual std::shared_ptr<Ros2PointCloudMessage> createPointCloudMessage(
) = 0#

Create a ROS 2 sensor_msgs/msg/PointCloud2 message.

Returns:

Pointer to the message.

virtual std::shared_ptr<Ros2LaserScanMessage> createLaserScanMessage(
) = 0#

Create a ROS 2 sensor_msgs/msg/LaserScan message.

Returns:

Pointer to the message.

virtual std::shared_ptr<Ros2TfTreeMessage> createTfTreeMessage() = 0#

Create a ROS 2 tf2_msgs/msg/TFMessage message.

Returns:

Pointer to the message.

virtual std::shared_ptr<Ros2TwistMessage> createTwistMessage() = 0#

Create a ROS 2 geometry_msgs/msg/Twist message.

Returns:

Pointer to the message.

virtual std::shared_ptr<Ros2AckermannDriveStampedMessage> createAckermannDriveStampedMessage(
) = 0#

Create a ROS 2 ackermann_msgs/msg/AckermannDriveStamped message.

Returns:

Pointer to the message.

virtual std::shared_ptr<Ros2Message> createDynamicMessage(
const std::string &pkgName,
const std::string &msgSubfolder,
const std::string &msgName,
BackendMessageType messageType = BackendMessageType::eMessage,
) = 0#

Create a ROS 2 dynamic message.

Parameters:

  • pkgName – Message package name (e.g.: "std_msgs" for std_msgs/msg/Int32).

  • msgSubfolder – Message subfolder name (e.g.: "msg" for std_msgs/msg/Int32).

  • msgName – Message name (e.g.: "Int32" for std_msgs/msg/Int32).

  • messageType – Message type.

Returns:

Pointer to the dynamic message.

virtual bool validateTopicName(const std::string &topicName) = 0#

Determine if the given topic name is valid.

Parameters:

topicName – Topic name.

Returns:

Whether the topic name is valid.

virtual bool validateNamespaceName(
const std::string &namespaceName,
) = 0#

Determine if the given node namespace name is valid.

Parameters:

namespaceName – Namespace name.

Returns:

Whether the node namespace name is valid.

virtual bool validateNodeName(const std::string &nodeName) = 0#

Determine if the given node name is valid.

Parameters:

nodeName – Node name.

Returns:

Whether the node name is valid.

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