Ros2TfTreeMessage

Fully qualified name: isaacsim::ros2::bridge::Ros2TfTreeMessage

class Ros2TfTreeMessage : public isaacsim::ros2::bridge::Ros2Message

Class implementing a tf2_msgs/msg/TFMessage message.

Provides functionality to read and write ROS 2 TFMessage messages that contain multiple transforms between coordinate frames.

Subclassed by isaacsim::ros2::bridge::Ros2TfTreeMessageImpl

Public Functions

virtual void writeData(

const double &timeStamp,

std::vector<TfTransformStamped> &transforms,

) = 0

Write the message field values from the given arguments.

Sets the transforms in a ROS 2 TFMessage message with multiple transforms.

Parameters:

• timeStamp – [in] Time (seconds).

• transforms – [in] Transforms.

virtual void readData(

std::vector<TfTransformStamped> &transforms,

) = 0

Read the message field values.

Extracts transform data from a ROS 2 TFMessage message.

Parameters:

transforms – [out] Transforms.

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.