Ros2TfTreeMessageImpl

Fully qualified name: isaacsim::ros2::bridge::Ros2TfTreeMessageImpl

class Ros2TfTreeMessageImpl : public isaacsim::ros2::bridge::Ros2TfTreeMessage, private isaacsim::ros2::bridge::Ros2MessageInterfaceImpl

Implementation of ROS 2 Transform Tree message.

Handles the creation and manipulation of tf2_msgs/msg/TFMessage messages, which contain multiple coordinate frame transforms.

Public Functions

Ros2TfTreeMessageImpl()

virtual ~Ros2TfTreeMessageImpl()

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,

std::vector<TfTransformStamped> &transforms,

)

Sets the transform tree data.

Parameters:

• timeStamp – [in] Time in seconds

• transforms – [in] Vector of transform data

virtual void readData(std::vector<TfTransformStamped> &transforms)

Reads the transform tree data.

Parameters:

transforms – [out] Vector to store transform data

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.