Ros2ImuMessageImpl#
Fully qualified name: isaacsim::ros2::bridge::Ros2ImuMessageImpl
-
class Ros2ImuMessageImpl : public isaacsim::ros2::bridge::Ros2ImuMessage, private isaacsim::ros2::bridge::Ros2MessageInterfaceImpl#
Implementation of ROS 2 IMU message.
Handles the creation and manipulation of sensor_msgs/msg/Imu messages, which contain inertial measurement unit data including orientation, angular velocity, and linear acceleration.
Public Functions
-
Ros2ImuMessageImpl()#
-
virtual ~Ros2ImuMessageImpl()#
-
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(double timeStamp, std::string &frameId)#
Write the message header.
Sets the header fields in a ROS 2 IMU message.
- Parameters:
timeStamp – [in] Time (seconds).
frameId – [in] Transform frame with which this data is associated.
- virtual void writeAcceleration(
- bool covariance,
- const std::vector<double> &acceleration,
Write the
linear_acceleration
or its covariance.Sets the linear acceleration values or marks the covariance as unknown in a ROS 2 IMU message.
- Parameters:
covariance – [in] If true, only the element 0 of the associated covariance matrix will be written to -1, not the acceleration (regardless of its value). If false, the acceleration values will be written.
acceleration – [in] Linear acceleration.
- virtual void writeVelocity(
- bool covariance,
- const std::vector<double> &velocity,
Write the
angular_velocity
or its covariance.Sets the angular velocity values or marks the covariance as unknown in a ROS 2 IMU message.
- Parameters:
covariance – [in] If true, only the element 0 of the associated covariance matrix will be written to -1, not the velocity (regardless of its value). If false, the velocity values will be written.
velocity – [in] Angular velocity.
- virtual void writeOrientation(
- bool covariance,
- const std::vector<double> &orientation,
Write the
orientation
or its covariance.Sets the orientation values or marks the covariance as unknown in a ROS 2 IMU message.
- Parameters:
covariance – [in] If true, only the element 0 of the associated covariance matrix will be written to -1, not the orientation (regardless of its value). If false, the orientation values will be written.
orientation – [in] Orientation.
-
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.
-
Ros2ImuMessageImpl()#