Ros2ImageMessage

Fully qualified name: isaacsim::ros2::bridge::Ros2ImageMessage

class Ros2ImageMessage : public isaacsim::ros2::bridge::Ros2Message

Class implementing a sensor_msgs/msg/Image message.

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 generateBuffer(

const uint32_t height,

const uint32_t width,

const std::string &encoding,

) = 0

Generate the buffer (matrix data) according to the image metadata.

It allocates memory for the data field, and computes and fills in the values of the other message fields.

Parameters:

• height – Image height.

• width – Image width.

• encoding – Encoding of pixels.

inline void *getBufferPtr()

Get the pointer to the buffer (matrix data).

Returns:

Pointer to the buffer.

inline size_t getTotalBytes()

Get the total size (step * height) of the buffer, in bytes.

Returns:

Buffer size.

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

std::vector<uint8_t> m_buffer

Buffer (matrix data).

size_t m_totalBytes = 0

Buffer size.

void *m_msg = nullptr

Message pointer.