Ros2ImuMessage

Fully qualified name: isaacsim::ros2::bridge::Ros2ImuMessage

class Ros2ImuMessage : public isaacsim::ros2::bridge::Ros2Message

Class implementing a sensor_msgs/msg/Imu message.

Public Functions

virtual void writeHeader(double timeStamp, std::string &frameId) = 0

Write the message header.

Parameters:

• timeStamp – Time (seconds).

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

virtual void writeAcceleration(

bool covariance = false,

const std::vector<double> &acceleration = std::vector<double>(),

) = 0

Write the linear_acceleration or its covariance.

Parameters:

• covariance – If true, only the element 0 of the associated covariance matrix will be written to -1, not the acceleration (regardless of its value). If false, the acceleration values will be written.

• acceleration – Linear acceleration.

virtual void writeVelocity(

bool covariance = false,

const std::vector<double> &velocity = std::vector<double>(),

) = 0

Write the angular_velocity or its covariance.

Parameters:

• covariance – If true, only the element 0 of the associated covariance matrix will be written to -1, not the velocity (regardless of its value). If false, the velocity values will be written.

• velocity – Angular velocity.

virtual void writeOrientation(

bool covariance = false,

const std::vector<double> &orientation = std::vector<double>(),

) = 0

Write the orientation or its covariance.

Parameters:

• covariance – If true, only the element 0 of the associated covariance matrix will be written to -1, not the orientation (regardless of its value). If false, the orientation values will be written.

• orientation – Orientation.

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.