Ros2LaserScanMessage#

Fully qualified name: isaacsim::ros2::bridge::Ros2LaserScanMessage

class Ros2LaserScanMessage : public isaacsim::ros2::bridge::Ros2Message#

Class implementing a sensor_msgs/msg/LaserScan message.

Provides functionality to write ROS 2 LaserScan messages that contain data from a planar laser range-finder.

Subclassed by isaacsim::ros2::bridge::Ros2LaserScanMessageImpl

Public Functions

virtual void writeHeader(
const double timeStamp,
const std::string &frameId,
) = 0#

Write the message header.

Sets the header fields in a ROS 2 LaserScan message.

Parameters:

  • timeStamp – [in] Time (seconds).

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

virtual void generateBuffers(const size_t buffSize) = 0#

Generate the buffers according to the LaserScan metadata.

It allocates memory for the range and intensities data.

Parameters:

buffSize – [in] buffer size.

virtual void writeData(
const pxr::GfVec2f &azimuthRange,
const float &rotationRate,
const pxr::GfVec2f &depthRange,
float horizontalResolution,
float horizontalFov,
) = 0#

Write the message field values from the given arguments.

Sets all fields in a ROS 2 LaserScan message.

Parameters:

  • azimuthRange – [in] Start (angle_min) and end (angle_max) angles of the scan in degrees.

  • rotationRate – [in] Scan frequency in Hz (1 / scan_time).

  • depthRange – [in] Minimum (range_min) and maximum (range_max) range values.

  • horizontalResolution – [in] Angular distance (angle_increment) between measurements in degrees.

  • horizontalFov – [in] Horizontal field of view (360 * time_increment * ranges.size / scan_time) in degrees.

inline std::vector<float> &getRangeData()#

Get the buffer (range data).

Provides direct access to the underlying buffer containing the range data.

Returns:

Buffer.

inline std::vector<float> &getIntensitiesData()#

Get the buffer (intensities data).

Provides direct access to the underlying buffer containing the intensities data.

Returns:

Buffer.

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

std::vector<float> m_rangeData#

Buffer (range data).

std::vector<float> m_intensitiesData#

Buffer (intensities data).

void *m_msg = nullptr#

Message pointer.