Ros2RawTfTreeMessage

Fully qualified name: isaacsim::ros2::bridge::Ros2RawTfTreeMessage

class Ros2RawTfTreeMessage : public isaacsim::ros2::bridge::Ros2Message

Class implementing a tf2_msgs/msg/TFMessage message with only one transform.

Provides functionality to write ROS 2 TFMessage messages that contain a single transform between coordinate frames.

Subclassed by isaacsim::ros2::bridge::Ros2RawTfTreeMessageImpl

Public Functions

virtual void writeData(

const double timeStamp,

const std::string &frameId,

const std::string &childFrame,

const pxr::GfVec3d &translation,

const pxr::GfQuatd &rotation,

) = 0

Write the message field values from the given arguments.

Sets the transform data in a ROS 2 TFMessage message with a single transform.

Parameters:

• timeStamp – [in] Time (seconds).

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

• childFrame – [in] Frame ID of the child frame to which this transform points.

• translation – [in] Translation of child frame from header frame.

• rotation – [in] Rotation of child frame from header frame.

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

void *m_msg = nullptr

Message pointer.