Ros2OdometryMessageImpl

Fully qualified name: isaacsim::ros2::bridge::Ros2OdometryMessageImpl

class Ros2OdometryMessageImpl : public isaacsim::ros2::bridge::Ros2OdometryMessage, private isaacsim::ros2::bridge::Ros2MessageInterfaceImpl

Implementation of ROS 2 Odometry message.

Handles the creation and manipulation of nav_msgs/msg/Odometry messages, which contain robot pose and velocity information.

Public Functions

Ros2OdometryMessageImpl()

virtual ~Ros2OdometryMessageImpl()

virtual const void *getTypeSupportHandle()

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.

virtual void writeHeader(

const double timeStamp,

const std::string &frameId,

)

Writes the message header.

Parameters:

• timeStamp – [in] Time in seconds

• frameId – [in] Frame ID for the odometry data

virtual void writeData(

std::string &childFrame,

const pxr::GfVec3d &linearVelocity,

const pxr::GfVec3d &angularVelocity,

const pxr::GfVec3d &robotFront,

const pxr::GfVec3d &robotSide,

const pxr::GfVec3d &robotUp,

double unitScale,

const pxr::GfVec3d &position,

const pxr::GfQuatd &orientation,

bool publishRawVelocities,

)

Sets the odometry data.

Parameters:

• childFrame – [in] Child frame ID for the transform

• linearVelocity – [in] Linear velocity vector

• angularVelocity – [in] Angular velocity vector

• robotFront – [in] Robot’s front direction vector

• robotSide – [in] Robot’s side direction vector

• robotUp – [in] Robot’s up direction vector

• unitScale – [in] Scale factor for unit conversion

• position – [in] Robot’s position vector

• orientation – [in] Robot’s orientation quaternion

• publishRawVelocities – [in] Whether to publish raw velocities

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.

Protected Attributes

void *m_msg = nullptr

Message pointer.