Ros2LaserScanMessage

Fully qualified name: isaacsim::ros2::bridge::Ros2LaserScanMessage

class Ros2LaserScanMessage : public isaacsim::ros2::bridge::Ros2Message

Class implementing a sensor_msgs/msg/LaserScan message.

Public Functions

virtual void writeData(

const double &timeStamp,

const std::string &frameId,

const pxr::GfVec2f &azimuthRange,

const float &rotationRate,

const pxr::GfVec2f &depthRange,

size_t buffSize,

float *rangeData,

float *intensitiesData,

float horizontalResolution,

float horizontalFov,

) = 0

Write the message field values from the given arguments.

Parameters:

• timeStamp – Time (seconds).

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

• azimuthRange – Start (angle_min) and end (angle_max) angles of the scan in degrees.

• rotationRate – Scan frequency in Hz (1 / scan_time).

• depthRange – Minimum (range_min) and maximum (range_max) range values.

• buffSize – Range and intensities array sizes.

• rangeData – Range array.

• intensitiesData – Intensities array.

• horizontalResolution – Angular distance (angle_increment) between measurements in degrees.

• horizontalFov – Horizontal field of view (360 * time_increment * ranges.size / scan_time) in degrees.

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.