Ros2NodeHandleImpl

Fully qualified name: isaacsim::ros2::bridge::Ros2NodeHandleImpl

class Ros2NodeHandleImpl : public isaacsim::ros2::bridge::Ros2NodeHandle

Implementation of ROS 2 Node Handle.

Manages a ROS 2 node instance, providing access to the node’s context and internal rcl_node_t structure.

Public Functions

Ros2NodeHandleImpl(

const char *name,

const char *namespaceName,

Ros2ContextHandle *contextHandle,

)

Constructor for ROS 2 Node Handle implementation.

Parameters:

• name – [in] Name of the ROS 2 node.

• namespaceName – [in] Namespace for the node.

• contextHandle – [in] Pointer to the ROS 2 context handle.

virtual ~Ros2NodeHandleImpl()

virtual Ros2ContextHandle *getContextHandle()

Gets the pointer to the context handler object.

Retrieves the context handler that owns this node.

See also

Ros2ContextHandle for context management details.

Returns:

Pointer to the context handler.

virtual void *getNode()

Gets the pointer to the ROS 2 node structure.

Returns a pointer to the underlying ROS 2 node structure (rcl_node_t).

Warning

This is a low-level access method that should be used with caution.

Returns:

Pointer to the node structure.