Ros2PointCloudMessageImpl#

Fully qualified name: isaacsim::ros2::bridge::Ros2PointCloudMessageImpl

class Ros2PointCloudMessageImpl : public isaacsim::ros2::bridge::Ros2PointCloudMessage, private isaacsim::ros2::bridge::Ros2MessageInterfaceImpl#

Implementation of ROS 2 Point Cloud message.

Handles the creation and manipulation of sensor_msgs/msg/PointCloud2 messages, which contain 3D point cloud data with customizable fields.

Public Functions

Ros2PointCloudMessageImpl()#
virtual ~Ros2PointCloudMessageImpl()#
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 generateBuffer(
const double &timeStamp,
const std::string &frameId,
const size_t &width,
const size_t &height,
const uint32_t &pointStep,
)#

Allocates and initializes the point cloud buffer.

Parameters:

  • timeStamp – [in] Time in seconds

  • frameId – [in] Frame ID for the point cloud

  • width – [in] Number of points in a row

  • height – [in] Number of rows (1 for unorganized clouds)

  • pointStep – [in] Size of a single 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.

Protected Attributes

std::vector<uint8_t> m_buffer#

Buffer (data).

size_t m_totalBytes = 0#

Buffer size.

void *m_msg = nullptr#

Message pointer.