Ros2OdometryMessage

Fully qualified name: isaacsim::ros2::bridge::Ros2OdometryMessage

class Ros2OdometryMessage : public isaacsim::ros2::bridge::Ros2Message

Class implementing a nav_msgs/msg/Odometry 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 writeData(

std::string &childFrame,

const pxr::GfVec3d &linearVelocity,

const pxr::GfVec3d &angularVelocity,

const pxr::GfVec3f &robotFront,

const pxr::GfVec3f &robotSide,

double unitScale,

bool zUp,

const pxr::GfVec3d &position,

const pxr::GfQuatd &orientation,

) = 0

Write the message field values from the given arguments.

Parameters:

• childFrame – Frame id the pose points to.

• linearVelocity – Linear velocity.

• angularVelocity – Angular velocity.

• robotFront – Front normalized vector.

• robotSide – Side normalized vector.

• unitScale – Unit scale of the stage.

• zUp – Whether the stage is z-axis up.

• position – Position.

• 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.