Ros2RawTfTreeMessageImpl

Fully qualified name: isaacsim::ros2::bridge::Ros2RawTfTreeMessageImpl

class Ros2RawTfTreeMessageImpl : public isaacsim::ros2::bridge::Ros2RawTfTreeMessage, private isaacsim::ros2::bridge::Ros2MessageInterfaceImpl

Implementation of ROS 2 Raw Transform Tree message.

Handles the creation and manipulation of tf2_msgs/msg/TFMessage messages containing a single transform. Used for publishing raw transform data without additional processing.

Public Functions

Ros2RawTfTreeMessageImpl()

virtual ~Ros2RawTfTreeMessageImpl()

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 writeData(

const double timeStamp,

const std::string &frameId,

const std::string &childFrame,

const pxr::GfVec3d &translation,

const pxr::GfQuatd &rotation,

)

Sets the transform data.

Parameters:

• timeStamp – [in] Time in seconds

• frameId – [in] Parent frame ID

• childFrame – [in] Child frame ID

• translation – [in] Translation vector

• rotation – [in] Rotation quaternion

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.