Ros2JointStateMessage

Fully qualified name: isaacsim::ros2::bridge::Ros2JointStateMessage

class Ros2JointStateMessage : public isaacsim::ros2::bridge::Ros2Message

Class implementing a sensor_msgs/msg/JointState message.

Public Functions

virtual void writeData(

const double &timeStamp,

omni::physics::tensors::IArticulationView *articulation,

pxr::UsdStageWeakPtr stage,

std::vector<float> &jointPositions,

std::vector<float> &jointVelocities,

std::vector<float> &jointEfforts,

std::vector<uint8_t> &dofTypes,

const double &stageUnits,

) = 0

Write the message field values from the given arguments.

Parameters:

• timeStamp – Time (seconds).

• articulation – Articulation handler.

• stage – USD stage.

• jointPositions – Joint positions.

• jointVelocities – Joint velocities.

• jointEfforts – Joint efforts.

• dofTypes – Articulation DOF types.

• stageUnits – Unit scale of the stage.

virtual void readData(

std::vector<char*> &jointNames,

double *jointPositions,

double *jointVelocities,

double *jointEfforts,

double &timeStamp,

) = 0

Read the message field values.

The size of the arrays to store the joint positions, velocities, and efforts must be equal to the number of joints (see Ros2JointStateMessage::getNumJoints) of the message before calling this method.

Parameters:

• jointNames – Joint names.

• jointPositions – Joint positions.

• jointVelocities – Joint velocities.

• jointEfforts – Joint efforts.

• timeStamp – Time (seconds).

virtual size_t getNumJoints() = 0

Get the number of joints in the message.

The size of the name field array is used as the number of joints.

Returns:

Number of joints.

virtual bool checkValid() = 0

Check that the message field arrays (joint names, positions, velocities, and efforts) have the same size.

Returns:

Whether the message field arrays have the same 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

void *m_msg = nullptr

Message pointer.