Ros2MessageInterfaceImpl

Fully qualified name: isaacsim::ros2::bridge::Ros2MessageInterfaceImpl

class Ros2MessageInterfaceImpl : public isaacsim::ros2::bridge::Ros2MessageInterface

Implementation of the ROS 2 message interface.

Provides concrete implementation for ROS 2 message handling, including time, string, and header field management. This class serves as a base for specific message type implementations.

Subclassed by isaacsim::ros2::bridge::Ros2AckermannDriveStampedMessageImpl, isaacsim::ros2::bridge::Ros2BoundingBox2DMessageImpl, isaacsim::ros2::bridge::Ros2BoundingBox3DMessageImpl, isaacsim::ros2::bridge::Ros2CameraInfoMessageImpl, isaacsim::ros2::bridge::Ros2ClockMessageImpl, isaacsim::ros2::bridge::Ros2DynamicMessageImpl, isaacsim::ros2::bridge::Ros2ImageMessageImpl, isaacsim::ros2::bridge::Ros2ImuMessageImpl, isaacsim::ros2::bridge::Ros2JointStateMessageImpl, isaacsim::ros2::bridge::Ros2LaserScanMessageImpl, isaacsim::ros2::bridge::Ros2NitrosBridgeImageMessageImpl, isaacsim::ros2::bridge::Ros2OdometryMessageImpl, isaacsim::ros2::bridge::Ros2PointCloudMessageImpl, isaacsim::ros2::bridge::Ros2RawTfTreeMessageImpl, isaacsim::ros2::bridge::Ros2SemanticLabelMessageImpl, isaacsim::ros2::bridge::Ros2TfTreeMessageImpl, isaacsim::ros2::bridge::Ros2TwistMessageImpl

Public Functions

Ros2MessageInterfaceImpl(

std::string pkgName,

std::string msgSubfolder,

std::string msgName,

BackendMessageType messageType = BackendMessageType::eMessage,

bool showLoadingError = false,

)

Constructor for message interface implementation.

Parameters:

• pkgName – [in] ROS 2 package name containing the message definition

• msgSubfolder – [in] Message subfolder (msg, srv, action)

• msgName – [in] Name of the message type

• messageType – [in] Type of message (default: standard message)

• showLoadingError – [in] Whether to show library loading errors

void writeRosTime(

const int64_t nanoseconds,

builtin_interfaces__msg__Time &time,

)

Writes a ROS 2 time field.

Parameters:

• nanoseconds – [in] Time in nanoseconds

• time – [out] ROS 2 time structure to fill

void writeRosString(

const std::string &input,

rosidl_runtime_c__String &output,

)

Writes a ROS 2 string field.

Parameters:

• input – [in] String to write

• output – [out] ROS 2 string structure to fill

void writeRosHeader(

const std::string &frameId,

const int64_t nanoseconds,

std_msgs__msg__Header &header,

)

Writes a ROS 2 header field.

Parameters:

• frameId – [in] Frame ID for the header

• nanoseconds – [in] Timestamp in nanoseconds

• header – [out] ROS 2 header structure to fill

inline void *getTypeSupportHandleDynamic()

Gets the pointer to the struct containing ROS IDL message type support data.

Retrieves a pointer to the ROS IDL type support structure for the message. The pointer points to a ROS IDL struct if the message is found. It is resolved by calling the rosidl_typesupport_c type support handle symbol for the given message name.

Message type	ROS IDL struct
Topic (Message)	rosidl_message_type_support_t
Service	rosidl_service_type_support_t
Action	rosidl_action_type_support_t

Warning

This method may return nullptr if the necessary ROS IDL libraries are not available in the system.

Returns:

The pointer to the struct, or nullptr if not found.

inline void *getTypeSupportIntrospectionHandleDynamic()

Gets the pointer to the struct containing the ROS IDL introspection data.

Retrieves a pointer to the ROS IDL introspection structure for the message. The pointer points to a ROS IDL struct if the message is found. It is resolved by calling the rosidl_typesupport_introspection_c type support handle symbol for the given message name and type.

Message type	ROS IDL struct
Topic (Message)	rosidl_message_type_support_t
Service	rosidl_service_type_support_t
Action	rosidl_message_type_support_t

Warning

This method may return nullptr if the necessary ROS IDL introspection libraries are not available in the system.

Returns:

The pointer to the struct, or nullptr if not found.

inline void *create()

Creates a new ROS 2 message instance.

Allocates memory for a new message of the specified type and initializes it. The pointer is resolved by calling the rosidl_generator_c __create symbol for the given message.

Note

The returned message must be destroyed using the destroy() method to prevent memory leaks.

Returns:

Pointer to the newly created message, or nullptr if creation failed.

template<typename T>
inline void destroy(T msg)

Destroys a ROS 2 message.

Finalizes the message by freeing its allocated memory. The function is resolved by calling the rosidl_generator_c __destroy symbol for the given message.

Note

This method does nothing if msg is nullptr.

Parameters:

msg – [in] Pointer to the message to destroy.

Pre:

The msg pointer must be a valid message previously created with create().

Protected Attributes

std::string m_pkgName

Message package name.

std::string m_msgSubfolder

Message subfolder name.

std::string m_msgName

Message name.

BackendMessageType m_msgType

Message type.

std::shared_ptr<isaacsim::core::includes::LibraryLoader> m_typesupportIntrospectionLibrary

ROS IDL type support introspection library.

std::shared_ptr<isaacsim::core::includes::LibraryLoader> m_typesupportLibrary

ROS IDL type support library.

std::shared_ptr<isaacsim::core::includes::LibraryLoader> m_generatorLibrary

ROS IDL generator library.