Ros2NitrosBridgeImageMessage#

Fully qualified name: isaacsim::ros2::bridge::Ros2NitrosBridgeImageMessage

class Ros2NitrosBridgeImageMessage : public isaacsim::ros2::bridge::Ros2Message#

Class implementing a isaac_ros_nitros_bridge_interfaces/msg/NitrosBridgeImage message.

Provides functionality to write ROS 2 NitrosBridgeImage messages that enable zero-copy transfer of image data between processes using CUDA memory.

Subclassed by isaacsim::ros2::bridge::Ros2NitrosBridgeImageMessageImpl

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 NitrosBridgeImage message.

Parameters:

  • timeStamp – [in] Time (seconds).

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

virtual void generateBuffer(
const uint32_t height,
const uint32_t width,
const std::string &encoding,
) = 0#

Compute and fill in the values of the other message fields.

This method is named the same as Ros2ImageMessage::generateBuffer for compatibility. Since the NitrosBridgeImage message does not define a buffer, no memory allocation is performed. It only computes and fills in the values of the other message fields.

Parameters:

  • height – [in] Image height.

  • width – [in] Image width.

  • encoding – [in] Encoding of pixels.

virtual void writeData(const std::vector<int32_t> &data) = 0#

Write the data field.

Sets the data field containing the process ID and CUDA memory block file-descriptor in a ROS 2 NitrosBridgeImage message.

Parameters:

data – [in] Calling process ID and the CUDA memory block file-descriptor.

inline void *getBufferPtr()#

Get the pointer to the buffer.

This method is named the same as Ros2ImageMessage::getBufferPtr for compatibility. Since the NitrosBridgeImage message does not define a buffer, it always return nullptr.

Returns:

nullptr.

inline size_t getTotalBytes()#

Get the total size (step * height) of the buffer, in bytes.

Returns the total size of the image data in bytes.

Returns:

Buffer 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

size_t m_totalBytes = 0#

Buffer size.

std::vector<int32_t> m_imageData#

Calling process ID and the CUDA memory block file-descriptor.

void *m_msg = nullptr#

Message pointer.