Ros2PointCloudMessage#

Fully qualified name: isaacsim::ros2::bridge::Ros2PointCloudMessage

class Ros2PointCloudMessage : public isaacsim::ros2::bridge::Ros2Message#

Class implementing a sensor_msgs/msg/PointCloud2 message.

Provides functionality to write ROS 2 PointCloud2 messages that contain point cloud data with an arbitrary number of fields per point.

Subclassed by isaacsim::ros2::bridge::Ros2PointCloudMessageImpl

Public Functions

virtual void generateBuffer(
const double &timeStamp,
const std::string &frameId,
const size_t &width,
const size_t &height,
const uint32_t &pointStep,
) = 0#

Generate the buffer (data) according to the point cloud metadata.

It allocates memory for the data field, and computes and fills in the values of the other message fields.

Parameters:

  • timeStamp – [in] Time (seconds).

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

  • width – [in] Point cloud width.

  • height – [in] Point cloud height.

  • pointStep – [in] Length of a point in bytes.

inline void *getBufferPtr()#

Get the pointer to the buffer (data).

Provides direct access to the underlying buffer containing the point cloud data.

Returns:

Pointer to the buffer.

inline size_t getTotalBytes()#

Get the total size (width * point_step) of the buffer, in bytes.

Returns the total size of the point cloud buffer 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

std::vector<uint8_t> m_buffer#

Buffer (data).

size_t m_totalBytes = 0#

Buffer size.

void *m_msg = nullptr#

Message pointer.