Ros2PointCloudMessage

Fully qualified name: isaacsim::ros2::bridge::Ros2PointCloudMessage

class Ros2PointCloudMessage : public isaacsim::ros2::bridge::Ros2Message

Class implementing a sensor_msgs/msg/PointCloud2 message.

Public Functions

virtual void generateBuffer(

const double &timeStamp,

const std::string &frameId,

const size_t &width,

const size_t &height,

const uint32_t &pointStep,

) = 0

Generate the buffer (data) according to the point cloud metadata.

It allocates memory for the data field, and computes and fills in the values of the other message fields.

Parameters:

• timeStamp – Time (seconds).

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

• height – Point cloud height.

• width – Point cloud width.

• pointStep – Length of a point in bytes.

inline void *getBufferPtr()

Get the pointer to the buffer (data).

Returns:

Pointer to the buffer.

inline size_t getTotalBytes()

Get the total size (width * point_step) 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

std::vector<uint8_t> m_buffer

Buffer (data).

size_t m_totalBytes = 0

Buffer size.

void *m_msg = nullptr

Message pointer.