Ros2JointStateMessage#

Fully qualified name: isaacsim::ros2::bridge::Ros2JointStateMessage

class Ros2JointStateMessage : public isaacsim::ros2::bridge::Ros2Message#

Class implementing a sensor_msgs/msg/JointState message.

Provides functionality to read and write ROS 2 JointState messages that contain joint positions, velocities, and efforts for articulated mechanisms.

Subclassed by isaacsim::ros2::bridge::Ros2JointStateMessageImpl

Public Functions

virtual void writeData(
const double &timeStamp,
omni::physics::tensors::IArticulationView *articulation,
pxr::UsdStageWeakPtr stage,
std::vector<float> &jointPositions,
std::vector<float> &jointVelocities,
std::vector<float> &jointEfforts,
std::vector<uint8_t> &dofTypes,
const double &stageUnits,
) = 0#

Write the message field values from the given arguments.

Sets the joint names, positions, velocities, efforts, and timestamp in a ROS 2 JointState message.

Parameters:

  • timeStamp – [in] Time (seconds).

  • articulation – [in] Articulation handler.

  • stage – [in] USD stage.

  • jointPositions – [in] Joint positions.

  • jointVelocities – [in] Joint velocities.

  • jointEfforts – [in] Joint efforts.

  • dofTypes – [in] Articulation DOF types.

  • stageUnits – [in] Unit scale of the stage.

virtual void readData(
std::vector<char*> &jointNames,
double *jointPositions,
double *jointVelocities,
double *jointEfforts,
double &timeStamp,
) = 0#

Read the message field values.

Extracts joint names, positions, velocities, efforts, and timestamp from a ROS 2 JointState message.

The size of the arrays to store the joint positions, velocities, and efforts must be equal to the number of joints (see Ros2JointStateMessage::getNumJoints) of the message before calling this method.

Parameters:

  • jointNames – [out] Joint names.

  • jointPositions – [out] Joint positions.

  • jointVelocities – [out] Joint velocities.

  • jointEfforts – [out] Joint efforts.

  • timeStamp – [out] Time (seconds).

virtual size_t getNumJoints() = 0#

Get the number of joints in the message.

Returns the number of joints in the message, derived from the size of the name field array.

Returns:

Number of joints.

virtual bool checkValid() = 0#

Check that the message field arrays have the same size.

Verifies that the joint names, positions, velocities, and efforts arrays all have the same size, indicating a valid message.

Returns:

Whether the message field arrays have the same size.

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.

virtual const void *getTypeSupportHandle() = 0#

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.

Protected Attributes

void *m_msg = nullptr#

Message pointer.