Ros2BoundingBox3DMessageImpl

Fully qualified name: isaacsim::ros2::bridge::Ros2BoundingBox3DMessageImpl

class Ros2BoundingBox3DMessageImpl : public isaacsim::ros2::bridge::Ros2BoundingBox3DMessage, private isaacsim::ros2::bridge::Ros2MessageInterfaceImpl

Implementation of ROS 2 3D Bounding Box message.

Handles the creation and manipulation of vision_msgs/msg/Detection3DArray messages, which contain 3D object detection results.

Public Functions

Ros2BoundingBox3DMessageImpl()

virtual ~Ros2BoundingBox3DMessageImpl()

virtual const void *getTypeSupportHandle()

Gets the type support handle for the message.

Returns a pointer to the ROS IDL message type support data structure. The actual type depends on the message category:

• Topic: rosidl_message_type_support_t

• Service: rosidl_service_type_support_t

• Action: rosidl_action_type_support_t

Returns:

Pointer to the type support structure or nullptr.

virtual void writeHeader(

const double timeStamp,

const std::string &frameId,

)

Writes the message header.

Parameters:

• timeStamp – [in] Time in seconds

• frameId – [in] Frame ID for the detections

virtual void writeBboxData(const void *bboxArray, size_t numBoxes)

Sets the bounding box data.

Parameters:

• bboxArray – [in] Array of 3D bounding box data

• numBoxes – [in] Number of bounding boxes in the array

inline void *getPtr()

Retrieves the message pointer.

Returns the pointer to the underlying ROS 2 message if it has been properly created and initialized.

Note

This method does not perform type checking - the caller is responsible for proper casting to the appropriate message type.

Returns:

Pointer to the message or nullptr if not initialized.

Protected Attributes

void *m_msg = nullptr

Message pointer.