Ros2RawTfTreeMessage

Fully qualified name: isaacsim::ros2::bridge::Ros2RawTfTreeMessage

class Ros2RawTfTreeMessage : public isaacsim::ros2::bridge::Ros2Message

Class implementing a tf2_msgs/msg/TFMessage message with only one transform.

Public Functions

virtual void writeData(

const double timeStamp,

const std::string &frameId,

const std::string &childFrame,

const pxr::GfVec3d &translation,

const pxr::GfQuatd &rotation,

) = 0

Write the message field values from the given arguments.

Parameters:

• timeStamp – Time (seconds).

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

• childFrame – Frame ID of the child frame to which this transform points.

• translation – Translation of child frame from header frame.

• rotation – Rotation of child frame from header frame.

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.