Ros2NitrosBridgeImageMessage

Fully qualified name: isaacsim::ros2::bridge::Ros2NitrosBridgeImageMessage

class Ros2NitrosBridgeImageMessage : public isaacsim::ros2::bridge::Ros2Message

Class implementing a isaac_ros_nitros_bridge_interfaces/msg/NitrosBridgeImage 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

Compute and fill in the values of the other message fields.

This method is named the same as Ros2ImageMessage::generateBuffer for compatibility. Since the NitrosBridgeImage message does not define a buffer, no memory allocation is performed. It only computes and fills in the values of the other message fields.

Parameters:

• height – Image height.

• width – Image width.

• encoding – Encoding of pixels.

virtual void writeData(const std::vector<int32_t> &data) = 0

Write the data field.

Parameters:

data – Calling process ID and the CUDA memory block file-descriptor.

inline void *getBufferPtr()

Get the pointer to the buffer.

This method is named the same as Ros2ImageMessage::getBufferPtr for compatibility. Since the NitrosBridgeImage message does not define a buffer, it always return nullptr.

Returns:

nullptr.

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

size_t m_totalBytes = 0

Buffer size.

std::vector<int32_t> m_imageData

Calling process ID and the CUDA memory block file-descriptor.

void *m_msg = nullptr

Message pointer.